Title :
Comments on "Robust tracking control for rigid robotic manipulators"
Author_Institution :
Dept. of Software & Comput. Sci., Iwate Prefectural Univ., Japan
fDate :
7/1/1998 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on