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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
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2013
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Article
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Tab 3
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Research Article
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
100
100
AF_DSC
82.5
82.4
AF_DSMC_D
57.4
57.3
AF_DSMC_DF
41
36