Fractional-Order Iterative Sliding Mode Control Based on the Neural Network for Manipulator

Table 1

Comparison of position error of two joints under six control methods.

Control strategies	Joints	Maximum value (rad)	Minimum value (rad)
ISMC	Joint 1	0.0248	0.0150
	Joint 2	0.0629	0.0171
RISMC	Joint 1	0.0219	0.0076
	Joint 2	0.0703	0.0157
FISMAC	Joint 1	0.0164	0.0106
	Joint 2	0.0421	0.0119
RFISMAC	Joint 1	0.0071	0.0067
	Joint 2	0.0181	0.0111
FISMSC	Joint 1	0.0175	0.0104
	Joint 2	0.0444	0.0119
RFISMSC	Joint 1	0.1000	0.0082
	Joint 2	0.0163	0.0114