An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators
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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.
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Journal title
volume 7 issue 2
pages 41- 46
publication date 2018-05-01
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