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In order to confirm the effectiveness, the proposed adaptive law was compared with different adaptation approaches in several previous studies using a circular motion trajectory. Experimental results show a significant enhancement on the motion accuracy and energy saving for the feed drives.This paper provides two bounded finite-time control strategies for the stabilization problem of Euler-Lagrange (EL) systems exposed to actuator failures. By the combination of sliding mode technology and adaptive method, two control architectures hav
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