Second order sliding mode control for an anthropomorphic robot-arm driven with pneumatic artificial muscles. - Bertrand Tondu; Karim Braikia; Mourad Chettouh; Serge Ippolito (Humanoids, 2009)

Improved Control Strategy of 2-Sliding Controls Applied to a Flexible Robot Arm. - Karim Braikia; Mourad Chettouh; Bertrand Tondu; Pascal Acco; Mustapha Hamerlain (Adv. Robotics, 2011)