... 2005.Spong, M.W. (1992). On the Robust Control of Robot Manipulators. IEEE Transactions onAutomatic Control, Vol. 37, No.11: 178 2- 178 6. 278 Sliding Mode Control 0 1 2 3−0.4−0.200.20.40.6ep ... also faster if the IQV controller is used.An disadvantage of the IQV controllers is that sometimes, at the beginning of motion, great 274 Sliding Mode Control Sliding Mode Control 284 Property ... Transactions on Robotics and Automation, Vol.9, No. 6: 74 0 -75 4. 276 Sliding Mode Control Slotine J J., & Li W. (19 87) . On the Adaptive Control of Robot Manipulators. The InternationalJournal...