DocumentCode
1403308
Title
Comments on "Robust tracking control for rigid robotic manipulators"
Author
Cai, Dawei
Author_Institution
Dept. of Software & Comput. Sci., Iwate Prefectural Univ., Japan
Volume
43
Issue
7
fYear
1998
fDate
7/1/1998 12:00:00 AM
Firstpage
1008
Abstract
In the original paper by M. Zhihong and M. Palaniswami (ibid., vol.39, p.154-9, 1994), a robust tracking control using a nominal feedback controller and a variable structure compensator for a rigid robotic manipulator with uncertain dynamics was presented. It is assumed that the model uncertainty is bounded. The author claims that this assumption is not necessarily correct and that the results obtained are therefore untenable.
Keywords
compensation; feedback; manipulators; robust control; tracking; uncertain systems; variable structure systems; VSC; VSS; nominal feedback controller; rigid robotic manipulators; robust tracking control; uncertain dynamics; variable structure compensator; Adaptive control; Control systems; Filtering; Frequency; Integral equations; Manipulator dynamics; Robot control; Robust control; Robust stability; Uncertainty;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.701113
Filename
701113
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