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