Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study

Table 2

Integral absolute error (IAE) values for various methods.

IAE	AFSMC	MAFSMC	AFHSMC
	0.0217	0.0195	0.1114
	0.0675	0.0554	0.2315
	0.2504	0.1630	0.0225
	0.1449	0.1010	0.0757
	32.2580	0.7841	1.3621
	50.2311	1.2887	1.5874
	24.3697	0.0111	1.9617
	39.4589	1.0212	2.3690