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    PSO Tuned Super-Twisting Sliding Mode Controller for Trajectory Tracking Control of an Articulated Robot by Zewdalem Abebaw Ayinalem, Abrham Tadesse Kassie

    Published 2025-01-01
    “…To mitigate this issue and enhance trajectory tracking, this paper designs a super-twisting SMC (STSMC). Intelligent particle swarm optimization (PSO) is employed to obtain optimal parameter values for STSMC, ensuring consistency, stability, and robustness. …”
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