Figure 6:
Comparison of the angle |$ q_1$| and its corresponding tracking error |$ e_1$| under the proposed TD-LnSMC method and the comparative methods, i.e. LnSMC, LSMC, and FOSMC.
Comparison of the angle |$ q_1$| and its corresponding tracking error |$ e_1$| under the proposed TD-LnSMC method and the comparative methods, i.e. LnSMC, LSMC, and FOSMC.
