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

Table 4

Tracking errors in case 2 of experiments.

Controllers	RMSE (rad)	RMSE (rad)
TSMC	0.0245	0.0291
AFSMC	0.0197	0.0183
ANFTSMC	0.0119	0.0132