“…Accurate trajectory control is a vital issue for the efficient operation of a given robotic application. For this reason, a large number of control methods have been applied in the literature for various types of robotic systems, such as, H infinity control (Makarov et al, 2016), neural network control (Li et al, 2017;Zhang et al, 2018), adaptive fuzzy control (Li et al, 2013;Chu et al, 2014) and fractional order control (Monje et al, 2007;Efe et al, 2008;Nikdel et al, 2016). Among the above mentioned control techniques, the sliding mode controller is an effective and robust control technique and is a variable structure for the unknown dynamics of unknown loads and nonlinear systems in the system.…”