@article{Keleher02,
   author =   {P. G. Keleher and R. J. Stonier},
   title =    {Adaptive terminal sliding mode control of a rigid robotic 
               manipulator with uncertain dynamics incorporating constraint 
               inequalities},
   journal =  {ANZIAM~J.},
   volume =   43,
   pages =    {E102--E153},
   year =     2002,
   number =   {E},
   month =    mar,
   note =     {[Online] \protect\url{http://anziamj.austms.org.au/V43/E039} [25 
               March 2002]},
   abstract = {We consider the control of a rigid robotic manipulator using 
               robust adaptive sliding mode tracking control. Physical state 
               constraints are incorporated using a multiplicative penalty in a 
               Liapunov function from which we obtain analytic control laws that 
               drive the robot's end effector into a desired fixed target within 
               finite time.},
}