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
Link To Document :
بازگشت