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Comments on "Adaptive variable structure set-point control of underactuated robots" [with reply]

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4 Author(s)
Zhang, T. ; Dept. of Chem. Eng., Queen's Univ., Kingston, Ont., Canada ; Dixon, W.E. ; Zergeroglu, E. ; Chun-Yi Su

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.

Published in:

Automatic Control, IEEE Transactions on  (Volume:46 ,  Issue: 5 )

Date of Publication:

May 2001

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