Fuzzy Terminal Sliding Mode Control with Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot

<div>Position error under working condition ② in Table <a href="../tab5/">5</a>. (a) Position of 10 mm amplitude and 1 Hz frequency. (b) Position error of 10 mm amplitude and 1 Hz frequency.</div>

Complexity

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Figure 15

Figure 15: Fuzzy Terminal Sliding Mode Control with Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot 