Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface

<div>Control torque of joint1 and joint 2 (FTSM).</div>

Journal of Control Science and Engineering

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Figure 7

Figure 7: Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface 

Figure 7 | Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface 