Comments on "A sliding mode controller with bound estimation for robot manipulators"

Author

Han Ho Choi ; Hyung Kyi Yi ; Myung Jin Chung ; Chun-Yi Su

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

11

Issue

3

fYear

1995

fDate

6/1/1995 12:00:00 AM

Firstpage

471

Lastpage

473

Abstract

In the above paper by Su-Leung (IEEE Trans. Robot Automat., vol.9, no.2, p.208-14 (1993)), an adaptive sliding mode control scheme for the trajectory control of robot manipulators is developed. The proof of Theorem 1 in the paper is accomplished by resorting to the Lasalle theorem. It is well known that the Lasalle theorem can be applied to either autonomous systems or periodic nonautonomous systems, but it is not applicable to general nonautonomous systems. The Lasalle theorem is not applicable to the manipulator tracking control system given in the paper because the tracking control system considered in the paper is neither an autonomous system nor a periodic nonautonomous system but it can be classified into general nonautonomous systems. Therefore, the proof of Theorem 1 in the paper is not correct.<>

Keywords

position control; robots; tracking; variable structure systems; Lasalle theorem; bound estimation; manipulators; robot; sliding mode controller; tracking control; trajectory control; Adaptive control; Asymptotic stability; Control systems; Linear matrix inequalities; Manipulators; Programmable control; Robot control; Sliding mode control; Time varying systems; Trajectory;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.388794

Filename

388794