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

Table 4

RMS tracking error for the circle command.

Control system	RMS error (rad)		RMS error (%)
	Link1	Link2	Link1	Link2
AF_DSMC	6.30×10^−4	2.66×10^−4	100	55.3
AF_DSMC_D	2.84×10^−4	1.26×10^−4	45.1	47.4
AF_DSMC_DF	1.04×10^−4	0.80×10^−4	16.5	30
AF_DSC_DF (disturbance)	3.66×10^−4	1.31×10^−4	58.1	49.3
AF_DSMC_DF (disturbance)	2.69×10^−4	0.81×10^−4	42.7	30.5