Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone

Figure 3

Experimental results of AF_DSC and AF_DSMC systems for the sine-wave command: (a) tracking errors in link1; (b) tracking errors in link2; (c) 𝑢_𝑑1; (d) 𝑢_𝑑2.

(a)

(b)

(c)

(d)