Title :
Comments on "A sliding mode controller with bound estimation for robot manipulators"
Author :
Hun Ho Choi ; Hyung Kyi Yi ; Myung Jin Chung
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
This authors point out that the proofs of the main results in the above paper by Su-Leung (ibid., vol.9, no.2, p.208-14 (1993)) are not correct. And rigorous proofs through more advanced stability results are presented.<>
Keywords :
Lyapunov methods; asymptotic stability; control system analysis; robots; variable structure systems; Lyapunov function; asymptotic stability; bound estimation; manipulators; robot; sliding mode controller; Asymptotic stability; Automatic control; Control systems; Equations; Lyapunov method; Manipulators; Programmable control; Robotics and automation; Robots; Sliding mode control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
