Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

<div>Tracking error for Case <a href="https://static.hindawi.com/articles/mpe/volume-2016/7364216/figures/#casee2">2</a>.</div>

Mathematical Problems in Engineering

Figure 5: Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance 