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

Table 2

Controller parameters.

Parameter	Quantity
𝑐11,𝑐12	120, 20
𝑐21,𝑐22	80, 10
𝛾11,𝛾12	0.2, 0.2
𝛾21,𝛾22	0.2, 0.2
𝐾11,𝐾12	0.12, 0.12
𝐾21,𝐾22	0.12, 0.12
𝜌12,𝜌22	0.2, 0.2
𝜏12,𝜏13	0.5, 0.5
𝜏22,𝜏23	0.05, 0.05