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Zhang et al. Intell. Robot. 2025, 5(2), 333-54 I http://dx.doi.org/10.20517/ir.2025.17 Page 347

(a) 1 (b) 2 (c) 3

(d) 4 (e) 5

Figure 9. Output tracking in the case of NFTSMC. NFTSMC: Non-singular fast terminal sliding mode controller.

(a) 1 (b) 2 (c) 3

(d) 4 (e) 5

Figure 10. Output tracking in the case of TSMC. TSMC: Terminal sliding mode control.

regarded as the interference force. In consideration of the periodic interference effect that occurs in the ac-

tual training, the interference force is set as in this paper: 1 = 1 + 0.5 sin + 6 , 2 = 2 + 0.5 sin − 6 ,
. The disturbance observer parameters
3 = 2+0.5 cos − , 4 = 1+0.8 sin − , 5 = 1+0.5 sin −
6 6 6
and controller parameters are given as 1 = 5 10 3 4 6 , 2 = 10 20 20 20 20 ,

1 = 5 6 3 5 6 , 2 = 50 50 50 50 50 , 3 = 3 4 5 4 6 , 4 =