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

Table 3

Tracking errors in case 1 of experiments.

Controllers	RMSE (rad)	RMSE (rad)
TSMC	0.0263	0.0307
AFSMC	0.0205	0.0192
ANFTSMC	0.0121	0.0139