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

<div>New reaching curves and approach speed when <i>s</i> = 5. (a) New reaching curves when <i>s</i> = 5. (b) New reaching speed when <i>s</i> = 5.</div>

Complexity

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Figure 5

Figure 5: Fuzzy Terminal Sliding Mode Control with Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot 