An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators

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.

Keywords:

Model Free , Robust Control , Robot Manipulator

Authors

Payam Kheirkhahan

Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran

Certificate
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استخراج به نرم افزارهای پژوهشی:

لینک ثابت به این Paper:

https://civilica.com/doc/1146220

شناسه ملی سند علمی:

JR_MPMPJ-7-2_003

تاریخ نمایه سازی: 7 بهمن 1399

How to Cite to This Paper:

If you want to refer to this Paper in your research work, you can simply use the following phrase in the resources section:

Kheirkhahan, Payam,1397,An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators,https://civilica.com/doc/1146220

Scientometrics

The specifications of the publisher center of this Paper are as follows:

Ranking of Islamic Azad University of Garmsar

Type of center: Azad University

Paper count: 2,933

In the scientometrics section of CIVILICA, you can see the scientific ranking of the Iranian academic and research centers based on the statistics of indexed articles.