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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
    “…Numerical simulations revealed that the tracking error and root mean square error (RMSE) improvements were approximately 18.33%, 16.66%, and 14.29% for PSO–STSMC compared to STSMC, and 79.50%, 78.04%, and 25.0% compared to PSO–SMC for each of the three joints under ideal conditions, respectively. …”
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