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Mathematical Problems in Engineering
Volume 2013, Article ID 978241, 9 pages
http://dx.doi.org/10.1155/2013/978241
Research Article

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

Department of Electronics Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-735, Republic of Korea

Received 25 July 2013; Revised 20 October 2013; Accepted 20 October 2013

Academic Editor: Xudong Zhao

Copyright © 2013 Seong Ik Han et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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