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

Table 2

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

Control strategies	Joints	Maximum value (rad)	Minimum value (rad)
ISMC	Joint 1	0.3452	0.1761
	Joint 2	0.1070	0.0939
RISMC	Joint 1	0.2342	0.0494
	Joint 2	0.6482	0.0718
FISMAC	Joint 1	0.2645	0.0757
	Joint 2	0.0667	0.0407
RFISMAC	Joint 1	0.0303	0.0218
	Joint 2	0.0584	0.0398
FISMSC	Joint 1	0.3451	0.1104
	Joint 2	0.0847	0.0501
RFISMSC	Joint 1	0.0812	0.0492
	Joint 2	0.1418	0.0309