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Chinese Journal of Mechanical Engineering

Table 3 Tracking traits for sinusoidal attitude with different \(N_c\)

From: A Closed-Loop Dynamic Controller for Active Vibration Isolation Working on A Parallel Wheel-Legged Robot

Signal frequency (Hz)

Time delay (s)

Amplitude error (rad)

MPC

PI

MPC

PI

1

0.0015

0.025

− 0.0008

− 0.0074

2

0.001

0.016

0.0004

− 0.0004

4

0.006

0.022

0.0061

0.0189

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