Title :
Comments on "Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators"
Author :
de Queiroz, M.S. ; Zhang, F. ; Dixon, W.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
The original paper of Su and Stepanenko (ibid., vol.14, p.651-5, 1998) presents the design of an adaptive/robust controller for uncertain electrically-driven robots with no velocity measurements. This note shows that the claim that velocity measurements are not required for control implementation is incorrect.
Keywords :
Adaptive control; Control system synthesis; Electric actuators; Manipulators; Robust control; Uncertain systems; Velocity measurement; hybrid adaptive/robust motion control design; motion control redesign; rigid-link electrically-driven robot manipulators; uncertain electrically-driven robots; velocity measurements; Adaptive control; Mechanical engineering; Motion control; Position control; Programmable control; Projection algorithms; Robot control; Robust control; Velocity control; Velocity measurement;
Journal_Title :
Robotics and Automation, IEEE Transactions on
