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Considering the model errors and external disturbances, the fuzzing sliding mode control based on the saturation function was proposed. Compared with other fuzzy control methods, fuzzy control and saturation function are used to adjust the robust terms to improve the tracking accuracy and reduce the high-frequency chattering.<\/jats:p>","DOI":"10.1017\/s0263574721001909","type":"journal-article","created":{"date-parts":[[2022,4,22]],"date-time":"2022-04-22T09:13:40Z","timestamp":1650618820000},"page":"2683-2696","source":"Crossref","is-referenced-by-count":21,"title":["Improved fuzzy sliding mode control in flexible manipulator actuated by PMAs"],"prefix":"10.1017","volume":"40","author":[{"given":"Fang","family":"Li","sequence":"first","affiliation":[]},{"given":"Zheng","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Yang","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Yining","family":"Chen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1538-2107","authenticated-orcid":false,"given":"Kai","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Jiafeng","family":"Yao","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,4,22]]},"reference":[{"doi-asserted-by":"publisher","key":"S0263574721001909_ref3","DOI":"10.1016\/j.mechmachtheory.2016.04.013"},{"doi-asserted-by":"publisher","key":"S0263574721001909_ref11","DOI":"10.1016\/j.mechmachtheory.2017.07.016"},{"doi-asserted-by":"publisher","key":"S0263574721001909_ref9","DOI":"10.1016\/j.mechatronics.2009.04.006"},{"doi-asserted-by":"publisher","key":"S0263574721001909_ref7","DOI":"10.1016\/j.automatica.2008.01.015"},{"doi-asserted-by":"publisher","key":"S0263574721001909_ref14","DOI":"10.1177\/1729881418773204"},{"key":"S0263574721001909_ref13","first-page":"115","article-title":"Application of BP neural networks in force prediction of pneumatic muscle actuators","volume":"41","author":"Gu","year":"2015","journal-title":"China Meas. 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