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Zhang et al. Intell. Robot. 2025, 5(2), 333-54 I http://dx.doi.org/10.20517/ir.2025.17 Page 349

Table 1. Controller error metrics: RMS and MAE
Controller type NFTSMC NTSMC TSMC
RMS(°) 0.5020 0.5600 0.6020
MAE(°) 0.4400 0.4550 0.6600
RMS: Root mean square; MAE: mean
absolute error; NFTSMC: non-singular fast
terminal sliding mode controller; NTSMC:
non-singular terminal sliding mode control;
TSMC: terminal sliding mode control.

(a) NFTSMC (b) TSMC

Figure 12. Tracking error in the case of NFTSMC and TSMC. NFTSMC: non-singular fast terminal sliding mode controller; TSMC: terminal
sliding mode control.

(a) NFTSMC (b) NTSMC

Figure 13. Tracking error in the case of NFTSMC and NTSMC. NFTSMC: Non-singular fast terminal sliding mode controller; NTSMC: non-
singular terminal sliding mode control.

The tracking performance comparison between the NFTSMC and the TSMC, as shown in Figure 12, is pre-
sented with the error extended over a longer time span to facilitate a clearer observation of the differences. As
depicted in the figure, the tracking error plot for NFTSMC [Figure 12A] exhibits a clear trend towards con-
vergence, ultimately stabilizing at a negligible value. This indicates that the system’s output, under the control