An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators
Publish Year: 1397
Type: Journal paper
Language: English
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Document National Code:
JR_MPMPJ-7-2_003
Index date: 25 January 2021
An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators abstract
This short note points out an improvement on the robust stability analysis for electrically driven robots given in the paper. In the paper, the author presents a FAT-based direct adaptive control scheme for electrically driven robots in presence of nonlinearities associated with actuator input constraints. However, he offers not suitable stability analysis for the closed-loop system. In other words, it does not consider the role of saturation function in both control design and stability analysis.
An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators Keywords:
An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators authors
Payam Kheirkhahan
Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran