An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators
الموضوعات :
1 - Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran
الکلمات المفتاحية: Robust Control, Model Free, Robot Manipulator,
ملخص المقالة :
This short note points out an improvement on the robust stability analysis for electrically drivenrobots given in the paper. In the paper, the author presents a FAT-based direct adaptive controlscheme for electrically driven robots in presence of nonlinearities associated with actuator inputconstraints. However, he offers not suitable stability analysis for the closed-loop system. In otherwords, it does not consider the role of saturation function in both control design and stabilityanalysis.
