# A direct robust nonsingular terminal sliding mode controller based on an adaptive time-delay estimator for servomotor rigid robots

> Research article (Mechatronics, 2019) · cited 30× · AI/ML

**Wikidata**: [openalex:W2924691121](https://www.wikidata.org/wiki/openalex:W2924691121)  
**Source**: https://4ort.xyz/entity/a-direct-robust-nonsingular-terminal-sliding-mode-controller-based-on-an-adaptive-time-delay-estimator-for-servomotor-ri