Mathematical Problems in Engineering / 2013 / Article / Fig 4

Research Article

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

Figure 4

Position tracking results. (a) Tracking output of BSMC in link1. (b) Tracking output of BSMC in link2. (c) Tracking errors of SMC (dashed), FTSMC (dash-dot), and BSMC (solid) in link1. (d) Tracking errors of SMC (dashed), FTSMC (dash-dot), and BSMC (solid) in link2.
978241.fig.004a
(a)
978241.fig.004b
(b)
978241.fig.004c
(c)
978241.fig.004d
(d)

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