Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone

Table 3

RMS tracking error for the sine command.

Control system	RMS error (rad)		RMS error (%)
	Link1	Link2	Link1	Link2
AF_DSC	1.83×10^−4	2.95×10^−4	100	100
AF_DSC	1.51×10^−4	2.43×10^−4	82.5	82.4
AF_DSMC_D	1.05×10^−4	1.69×10^−4	57.4	57.3
AF_DSMC_DF	0.75×10^−4	1.06×10^−4	41	36