Adaptive Approximation Sliding-Mode Control of an Uncertain Continuum Robot with Input Nonlinearities and Disturbances

Table 2

Tracking errors of simulations.

Controllers	RMSE (rad)	RMSE (rad)
TSMC	0.0237	0.0283
AFSMC	0.0193	0.0172
ANFTSMC	0.0115	0.0128