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Comparison of nonlinear controllers against polynomial trajectories.
| PD + G | Backstepping | SMC | |
|---|---|---|---|
| Circular path error | 15.93% | 3.63% | 3.23% |
| Path error polynomial | 8.0307% | 2.1541% | 2.0206% |
| Execution time | 6.7 s | 7.6 s | 10.8 s |
| Disturbance control | average | High | High |
| Setpoint changes | average | High | High |
| Feedback variables | Pos,vel | Pos,vel | Pos,vel,Acc |
| Smooth actuator changes | Yes | Yes | No |
