Singular Perturbation-Based Adaptive Integral Sliding Mode Control for Flexible Joint Robots. - Raja Fawad Afsar Khan; Kamal Rsetam; Zhenwei Cao; Zhihong Man (IEEE Trans. Ind. Electron., 2023)

Internal Model based SMC for FJRs using Singular Perturbation Approach. - Raja Fawad Afsar Khan; Kamal Rsetam; Zhenwei Cao; Zhihong Man (IECON, 2024)