Mathematical Problems in Engineering / 2013 / Article / Fig 3

Research Article

Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator

Figure 3

Position tracking outputs of the SMC (dashed) and FTSMC (solid): (a) link1. (b) link2.
978241.fig.003a
(a)
978241.fig.003b
(b)

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