Research Article
A Novel Trajectory Tracking Control with Modified Supertwisting Sliding Mode for Human-Robot Cooperation Manipulator in Assembly Line
Table 2
Comparison of processing time of control schemes.
| Control scheme | Processing time (s) |
| Sliding mode control | 2.230 | Supertwisting sliding mode control | 2.520 | Quantum-interference artificial neural network | 132.565 | FASTSMC (proposed in this paper) | 7.372 |
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