Title :
Comments on "Adaptive variable structure set-point control of underactuated robots" [with reply]
Author :
Zhang, Tianzhu ; Dixon, Warren E. ; Zergeroglu, Erkan ; Chun-Yi Su
Author_Institution :
Dept. of Chem. Eng., Queen´s Univ., Kingston, Ont., Canada
fDate :
5/1/2001 12:00:00 AM
Abstract :
This note points out several technical errors in the above mentioned paper by Su et al. (ibid. vol.44 (1999)). It is shown that the choice of Lyapunov function is inadequate for the system stability analysis, and the asymptotic tracking of the underactuated robot joints is not achievable under certain conditions. In reply, Su addresses, from the comments, some important issues that were not duly emphasised in the paper.
Keywords :
Lyapunov methods; adaptive control; robot dynamics; stability; tracking; variable structure systems; Lyapunov function; adaptive control; set-point control; stability; tracking; underactuated robots; variable structure control; Adaptive control; Automatic control; Chemical engineering; Control systems; Error correction; Lyapunov method; Programmable control; Robot control; Stability analysis;
Journal_Title :
Automatic Control, IEEE Transactions on
