Table 3 Statistical results between the comparison and proposed controller
Controller | RMS of \(\ddot{z}_{s}\) (m/s2) | Slip ratio SNR | ts (s) | ds (m) |
|---|---|---|---|---|
PID | 0.536 | 66.78% | 2.42 | 22.8 |
PID and ASS | 0.457−↓14.7% | 49.88% | 2.21−↓8.7% | 21.2−↓7.1% |
NNSMC and ASS | 0.448− ↓16.4% | 6.82% | 2.05−↓15.3% | 19.4− ↓14.9% |