فهرست نشریات علمی دسترسی آزاد ایران

This short note points out an improvement on the robust stability analysis for electrically drivenrobots given in the paper. In the paper, the author presents a FAT-based direct adaptive controlscheme for electrically driven robots in presence of nonlinearities associated with actuator inputconstraints. However, he offers not suitable stability analysis for the closed-loop system. In otherwords, it does not consider the role of saturation function in both control design and stabilityanalysis.