Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time

Table 1

Control parameters.

Control scheme	Control parameters
Finite-time NTSMC	, , , , , , , , ,
Fixed-time NTSMC	, , , , , , , , , , , , ,
Predefined-time LSMC	, , , ,
Proposed predefined-time NTSMC	, , , , , , , ,