Data-Driven Control Based on the Interval Type-2 Intuition Fuzzy Brain Emotional Learning Network for the Multiple Degree-of-Freedom Rehabilitation Robot

Table 1

Comparison of RMS values.

RMS of error		(0, 2]	(2, 4]	(4, 6]	(6, 8]	(8, 10]
MFAC	e1	0.0206	0.0022	0.0032	0.0033	0.0028
	e2	0.0261	0.0035	0.0021	0.0029	0.0019
	e3	0.0138	0.0019	0.0019	0.0017	0.0018
MFASMC	e1	0.0198	0.0019	0.0029	0.0023	0.0026
	e2	0.0168	0.0028	0.0019	0.0018	0.0016
	e3	0.0118	0.0015	0.0016	0.0015	0.0013
IT2IFBELNFC	e1	0.0176	0.0015	0.0018	0.0012	0.0012
	e2	0.0131	0.0022	0.0016	0.0014	0.0012
	e3	0.0124	0.0013	0.0013	0.0011	0.0011