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This paper proposes a non-singular terminal sliding mode combined with time delay controller for fast tracking trajectory of uncertain second-order nonlinear systems in presence of external disturbances. The motivation for using Non-Singular Terminal Sliding Mode (NSTSM) mainly relies on its appreciable features, such as simplicity of design and implementation, high precision and fast convergence...
This paper proposes a second order sliding mode combined with time delay controller to track a desired trajectory for robot manipulators with unknown dynamics and external disturbances. The motivation for using second order sliding mode (SOSM) mainly relies on its appreciable features, such as high precision and elimination of chattering in addition that it ensures robustness. However, the SOSM problem...
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