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).
978241.fig.006a
(a)
978241.fig.006b
(b)
978241.fig.006c
(c)

We are committed to sharing findings related to COVID-19 as quickly as possible. We will be providing unlimited waivers of publication charges for accepted research articles as well as case reports and case series related to COVID-19. Review articles are excluded from this waiver policy. Sign up here as a reviewer to help fast-track new submissions.