People generally recommend the VR version of this lens and rate it highly. I would guess that the lenses are basically the same otherwise. The VR gives most people sharper results in most situations because of the vibration reduction. I have not compared them myself, so am just going with what reviewers are saying and that seems to be the consensus.
My bad. It is the 18-200 I was thinking of. The 55-200 does get good reviews and isn't nearly so expensive. It is a good addition if you already have the kit lens and don't want to spend $750. The VR feature is very nice for those longer lenses, but is spendy.