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

Figure 6

Control inputs. (a) Link1, SMC (dashed) and FTSMC (soild). (b) Link2, SMC (dashed) and FTSMC (solid). (c) BSMC, link1 (dashed) and link2 (solid).

(a)

(b)

(c)