Skip to main content
We gratefully acknowledge support from the Simons Foundation, member institutions, and all contributors. Donate
arXiv logo
Cornell University Logo

Computer Science > Robotics

arXiv:2105.14615 (cs)
[Submitted on 30 May 2021 (v1), last revised 16 May 2022 (this version, v2)]

Title:On the Controllers Based on Time Delay Estimation for Robotic Manipulators

Authors:M. Reza J. Harandi
View PDF
Abstract: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.
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2105.14615 [cs.RO]
  (or arXiv:2105.14615v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2105.14615

Submission history

From: Mohammad Reza Jafari Harandi [view email]
[v1] Sun, 30 May 2021 20:10:26 UTC (44 KB)
[v2] Mon, 16 May 2022 13:01:52 UTC (71 KB)
Full-text links:

Access Paper:

  • View PDF
  • TeX Source
  • Other Formats
view license
Current browse context:
cs.RO
< prev   |   next >
new | recent | 2021-05
Change to browse by:
cs
cs.SY
eess
eess.SY

References & Citations

DBLP - CS Bibliography

listing | bibtex
export BibTeX citation

Bookmark

BibSonomy logo Reddit logo

Bibliographic and Citation Tools

Bibliographic Explorer (What is the Explorer?)
Connected Papers (What is Connected Papers?)
Litmaps (What is Litmaps?)
scite Smart Citations (What are Smart Citations?)

Code, Data and Media Associated with this Article

alphaXiv (What is alphaXiv?)
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub (What is DagsHub?)
Gotit.pub (What is GotitPub?)
Hugging Face (What is Huggingface?)
Papers with Code (What is Papers with Code?)
ScienceCast (What is ScienceCast?)

Demos

Replicate (What is Replicate?)
Hugging Face Spaces (What is Spaces?)
TXYZ.AI (What is TXYZ.AI?)

Recommenders and Search Tools

Influence Flower (What are Influence Flowers?)
CORE Recommender (What is CORE?)

arXivLabs: experimental projects with community collaborators

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.

Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)