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African vultures optimization-based hybrid neural network–proportional-integral-derivative controller...
Figure 11. The trajectories tracking of all angles of the 3-links robot when the robot model is under
disturbances and start with initial value (0.0, −0.7, −1.0) rad. “A” , “B”, and “C” are the positions tracking
for Psi-1, Psi-2, and Psi-3, respectively. “D” is the end effector x–y plot.
Abbreviations: Con-PID: Conventional proportional-integral-derivative control; NN: Neural network; STNN:
Self-tuning neural network.
Figure 12. The trajectories tracking of all angles of the 3-links robot when the weight of third link Mc
increased by 10% and the motion start with initial value (0.0, −0.7, −1.0) rad. “A” , “B”, and “C” are the
positions tracking for Psi-1, Psi-2, and Psi-3, respectively. “D” is the end effector x–y plot.
Abbreviations: Con-PID: Conventional proportional-integral-derivative control; NN: Neural network; STNN:
Self-tuning neural network.
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