Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a rigorous proof by designing a traditional model-free controller together with time delay estimation (TDE) such that neither dynamical parameters nor conservative assumptions on external disturbance are required. The purpose of this note is to show that this claim is not true and the stability proof of the method is incorrect. Finally, some modified versions of this controller with rigorous proof is presented for robotic manipulators.
翻译:在未经改造的动态或外部扰动的情况下,以平稳的控制法对机器人操纵者进行无症状轨迹追踪的保证是一个具有挑战性的问题。最近,有人断言,这是通过严格证明实现的,办法是设计一个传统的无模型控制器,同时进行时间延迟估计,从而不需要关于外部扰动的动态参数或保守假设。本说明的目的是表明这一说法不真实,而且该方法的稳定性证明不正确。最后,为机器人操纵者提供了该控制器经过严格验证的一些经过修改的版本。