Sinusoidal tracking on Hydraulic plant Sinusoidal trajectory, 1.5 Nm disturbance (simulation)
0.5Total RMS Error (mrad)Impedance MPC + Kalman
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Impedance MPC + KalmanRate=500 Hz, Dist. est.=Kalman d^, Paradigm=Pred. + offset-free2026.06 | 0.5 | 0.6 | 6.6 | 0.1 | |
| Impedance MPCRate=500 Hz, Dist. est.=None, Paradigm=Predictive, fast2026.06 | 3.1 | 5.1 | 6.4 | 4.7 | |
| Impedance MPC + KalmanRate=100 Hz, Dist. est.=Kalman d^, Paradigm=Pred. + offset-free2026.06 | 10.3 | 15.3 | 150.6 | 0.1 | |
| Impedance MPCRate=100 Hz, Dist. est.=None, Paradigm=Predictive2026.06 | 52.1 | 84.5 | 150.5 | 83.3 | |
| PI impedanceRate=1 kHz, Dist. est.=Integral, Paradigm=React. + integral, Kint=42026.06 | 72.3 | 98.8 | 147.3 | 74.4 | |
| Classical impedanceRate=1 kHz, Dist. est.=None, Paradigm=Reactive, Kd=102026.06 | 91.7 | 149.1 | 150.6 | 150.1 | |
| AdmittanceRate=1 kHz, Dist. est.=None, Paradigm=Yield to contact, Ka=32026.06 | 299 | 482.9 | 495 | 494.9 |