Composite Learning Sliding Mode Control of Flexible-Link Manipulator

<div>NN response. (a) Trajectory of <svg height="14.0749pt" id="M113" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -10.8934 24.1233 14.0749" width="24.1233pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M162 -163V703H102V-163H162ZM309 -163V703H249V-163H309Z" id="g113-10"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="411" vert-adv-y="411" xpluscharwidth="5.343"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,6.237,-1.866)"><path d="M658 557C549 593 437 629 340 673H318C222 629 109 593 0 557L9 532C116 551 225 577 329 602C435 576 543 551 649 532L658 557Z" id="g119-105"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="658" vert-adv-y="658" xpluscharwidth="14.791"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,5.343,0)"><path d="M642 327C642 461 565 582 389 582C298 582 219 548 176 519L185 491C235 515 291 526 348 526C477 526 572 452 572 268C572 145 509 51 431 51C396 51 366 78 366 145C366 189 391 295 402 337L396 341L320 332C315 289 306 229 296 187C276 99 230 55 185 55C149 55 111 89 111 170C111 275 160 373 238 431L222 457C99 394 23 290 23 157C23 40 81 -12 142 -12C185 -12 254 33 293 86C301 31 340 -12 394 -12C437 -12 477 8 524 50C589 108 642 203 642 327Z" id="g113-250"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="665" vert-adv-y="665" xpluscharwidth="13.988"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,13.663,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487" xpluscharwidth="18.094685390000002"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.641,0)"><path d="M162 -163V703H102V-163H162ZM309 -163V703H249V-163H309Z" id="g113-10"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="411" vert-adv-y="411" xpluscharwidth="23.983999999999998"></glyph.data></g></svg>. (b) Trajectory of <svg height="14.0749pt" id="M114" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -10.8934 24.1233 14.0749" width="24.1233pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M162 -163V703H102V-163H162ZM309 -163V703H249V-163H309Z" id="g113-10"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="411" vert-adv-y="411" xpluscharwidth="5.343"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,6.237,-1.866)"><path d="M658 557C549 593 437 629 340 673H318C222 629 109 593 0 557L9 532C116 551 225 577 329 602C435 576 543 551 649 532L658 557Z" id="g119-105"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="658" vert-adv-y="658" xpluscharwidth="14.791"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,5.343,0)"><path d="M642 327C642 461 565 582 389 582C298 582 219 548 176 519L185 491C235 515 291 526 348 526C477 526 572 452 572 268C572 145 509 51 431 51C396 51 366 78 366 145C366 189 391 295 402 337L396 341L320 332C315 289 306 229 296 187C276 99 230 55 185 55C149 55 111 89 111 170C111 275 160 373 238 431L222 457C99 394 23 290 23 157C23 40 81 -12 142 -12C185 -12 254 33 293 86C301 31 340 -12 394 -12C437 -12 477 8 524 50C589 108 642 203 642 327Z" id="g113-250"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="665" vert-adv-y="665" xpluscharwidth="13.988"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,13.663,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487" xpluscharwidth="18.094685390000002"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.641,0)"><path d="M162 -163V703H102V-163H162ZM309 -163V703H249V-163H309Z" id="g113-10"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="411" vert-adv-y="411" xpluscharwidth="23.983999999999998"></glyph.data></g></svg>.</div>

Complexity

Composite Learning Sliding Mode Control of Flexible-Link Manipulator

Figure 5