An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators

Journal of Modern Processes in Manufacturing and Production

مقاله 3، دوره 7، شماره 2، مرداد 2018، صفحه 41-46   

نوع مقاله: Research Paper

نویسنده

Payam Kheirkhahan^*

Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran

چکیده

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.

کلیدواژه‌ها

Model Free؛ Robust Control؛ Robot Manipulator