Fig. 11 | Scientific Reports

Fig. 11

From: Cluster formation tracking of networked perturbed robotic systems via hierarchical fixed-time neural adaptive approach

Fig. 11

(a) Control input torque \(\tau _{i}\) for coordinates 1 and 2 of the first robot without considering actuator input deadzone compensation. The comparison algorithm applied in the figure (a) is derived from reference23. (b) Control input torque \(\tau _i\) for coordinates 1 and 2 of the first robot while considering actuator input deadzone compensation.

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