Table 3 RMSE of two controllers when tracking sinusoidal orbital input.

From: Adaptive fuzzy sliding mode control of an actuator powered by two opposing pneumatic artificial muscles

Frequency

Without load

Load (m = 5 kg)

AFSMC

SMC

AFSMC

SMC

0.1 Hz

0.71

1.15

0.74

1.18

0.5 Hz

2.23

3.92

2.68

4.21

1.0 Hz

3.13

5.40

3.48

6.64

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