Tracking Control on Dual-environment payload sweep Aggressive environment, 5x friction
0.209Tracking RMSE (rad)Proposed (v3)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Proposed (v3)Payload [kg]=0.42026.05 | 0.209 | 48.3 | |
| Proposed (v3)Payload [kg]=0.62026.05 | 0.389 | 13.4 | |
| Slotine-Li baselinePayload [kg]=0.22026.05 | 0.4 | — | |
| Slotine-Li baselinePayload [kg]=0.42026.05 | 0.405 | — | |
| Slotine-Li baselinePayload [kg]=0.62026.05 | 0.45 | — | |
| Slotine-Li baselinePayload [kg]=0.02026.05 | 0.465 | — | |
| Slotine-Li baselinePayload [kg]=0.82026.05 | 0.467 | — | |
| Slotine-Li baselinePayload [kg]=1.02026.05 | 0.544 | — | |
| Slotine-Li baselinePayload [kg]=1.22026.05 | 0.581 | — | |
| Proposed (v3)Payload [kg]=0.02026.05 | 0.584 | -25.5 | |
| Slotine-Li baselinePayload [kg]=1.52026.05 | 0.646 | — | |
| Proposed (v3)Payload [kg]=0.82026.05 | 0.65 | -39.2 | |
| Proposed (v3)Payload [kg]=1.02026.05 | 0.748 | -37.5 | |
| Proposed (v3)Payload [kg]=1.22026.05 | 0.791 | -36.1 | |
| Proposed (v3)Payload [kg]=1.52026.05 | 0.861 | -33.2 | |
| Proposed (v3)Payload [kg]=0.22026.05 | 0.917 | -129.4 |