ResearchBenchmarksTrajectory Tracking on Static Fluid 20 cPFollow0.49RMSESMC-DOB0.44680.73841.031.3216Apr 2, 2026Evaluation ResultsMethodMethodLinksRMSEP95 ErrorMax ErrorSMC-DOBViscosity=20 cPViscosity=20 cP2026.040.490.861.64PIDViscosity=20 cPViscosity=20 cP2026.040.821.782.7MPCViscosity=20 cPViscosity=20 cP2026.041.572.774.4