DocumentCode
1484723
Title
Comments on "Adaptive variable structure set-point control of underactuated robots" [with reply]
Author
Zhang, Tianzhu ; Dixon, Warren E. ; Zergeroglu, Erkan ; Chun-Yi Su
Author_Institution
Dept. of Chem. Eng., Queen´s Univ., Kingston, Ont., Canada
Volume
46
Issue
5
fYear
2001
fDate
5/1/2001 12:00:00 AM
Firstpage
811
Lastpage
813
Abstract
This note points out several technical errors in the above mentioned paper by Su et al. (ibid. vol.44 (1999)). It is shown that the choice of Lyapunov function is inadequate for the system stability analysis, and the asymptotic tracking of the underactuated robot joints is not achievable under certain conditions. In reply, Su addresses, from the comments, some important issues that were not duly emphasised in the paper.
Keywords
Lyapunov methods; adaptive control; robot dynamics; stability; tracking; variable structure systems; Lyapunov function; adaptive control; set-point control; stability; tracking; underactuated robots; variable structure control; Adaptive control; Automatic control; Chemical engineering; Control systems; Error correction; Lyapunov method; Programmable control; Robot control; Stability analysis;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.920808
Filename
920808
Link To Document