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Sliding Mode Control of Robot Manipulators via Intelligent Approaches

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Figure

Fig. 2. The membership functions of the output  K fuzz
Fig. 3. The tracking errors in the case of using conventional SMC
Fig. 5. The tracking errors in the case of using Fuzzy SMC-PID
Fig. 8. The enlargement of the tracking errors in the case of using Fuzzy SMC-PID
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