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Journal of Control Science and Engineering
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Journal of Control Science and Engineering
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2020
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Article
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Tab 3
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Research Article
Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers
Table 3
RMSEs for each joint.
Control scheme
ABSMC
ABSMC + NDO
RMSE
First slider
27.1 × 10
−5
3.4 × 10
−5
Second slider
27.1 × 10
−5
3.4 × 10
−5
Active wheel
7.8 × 10
−3
6.1 × 10
−4