Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

<div>Torque for link 2 (Case <a href="https://static.hindawi.com/articles/mpe/volume-2016/7364216/figures/#casee1">1</a>).</div>

Mathematical Problems in Engineering

Figure 4: Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance 