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

Table 3

Unit step response performance index.

Control strategies	Joints	Maximum overshoot, (%)	Rise time, Tr (s)	Adjustment time, Ts (s)	Root mean square error (rad)
ISMC	Joint 1	0.54	0.27	0.27	0.01671
	Joint 2	5.61	0.048	0.03	0.02395
RISMC	Joint 1	0	0.2	0.24	0.01593
	Joint 2	8.23	0.03	0.03	0.02026
FISMAC	Joint 1	0	0.5	0.5	0.00206
	Joint 2	0	0.25	0.25	0.00416
RFISMAC	Joint 1	0	0.3	0.28	0.00189
	Joint 2	0	0.16	0.17	0.00391
FISMSC	Joint 1	5.33	0.165	0.5	0.00371
	Joint 2	14.6	0.06	0.4	0.00557
RFISMSC	Joint 1	8.22	0.1	0.36	0.00300
	Joint 2	19.1	0.05	0.31	0.00433