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

محورهای موضوعی : Manufacturing process monitoring and control

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

تاریخ دریافت : 1397/06/01 تاریخ پذیرش : 1397/08/12 تاریخ انتشار : 1397/02/11

کلید واژه: Robust Control, Model Free, Robot Manipulator,

چکیده مقاله :

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.