Research Article

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

Figure 4

Experimental results of AF_DSMC, AF_DSMC_D, and AF_DSMC_DF systems for the sine command: (a) tracking errors in link1; (b) tracking errors in link2.
161325.fig.004a
(a)
161325.fig.004b
(b)