Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="161325.fig.001a" src="https://static-preview.hindawi.com/articles/mpe/volume-2013/161325/figures/161325.fig.001a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Deadzone</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="161325.fig.001b" src="https://static-preview.hindawi.com/articles/mpe/volume-2013/161325/figures/161325.fig.001b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Inverse deadzone</td></tr></table></td></tr></table>

Mathematical Problems in Engineering

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Figure 1

Figure 1: Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone 