...Mode Control Based on Adaptive Barrier Function for nth...
(b. x(x, t,)tu)u−−x..xn..dn)d.) (8) Using the Equations (5), (7) and (8), the time-derivative of the nonsingular terminal sliding surface is calculated as . ϑ = k p s. + ki sq/r + k d s.. = kp{c1(x2 − x2d) + c2(x3 +kisq/r + kd{c1(x3 −...