Mathematical Problems in Engineering / 2013 / Article / Fig 6

Research Article

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).

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