Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode

Table 1

The meaning of the control parameters.

The parameters	Meanings
	Adjusting the sliding surface, the transient period
	Positive definition matrix , adjusting the convergence of adaptive mechanism
	Minimizing the chattering in the control input
	Condition of stabilization for closed loop