An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators

الموضوعات :

Payam Kheirkhahan ¹ (Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran)

تاريخ الإرسال : 12 الخميس , ذو الحجة, 1439 تاريخ التأكيد : 25 السبت , صفر, 1440 تاريخ الإصدار : 15 الثلاثاء , شعبان, 1439

الکلمات المفتاحية: Robust Control, Model Free, Robot Manipulator,

ملخص المقالة :

This short note points out an improvement on the robust stability analysis for electrically drivenrobots given in the paper. In the paper, the author presents a FAT-based direct adaptive controlscheme for electrically driven robots in presence of nonlinearities associated with actuator inputconstraints. However, he offers not suitable stability analysis for the closed-loop system. In otherwords, it does not consider the role of saturation function in both control design and stabilityanalysis.