Tracking Control of Robots Revisited Based on Taylor Series and Asymptotic Expansion

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Deylami Ali

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Journal Paper

Paper Information

Journal: Journal of Modern Processes in Manufacturing and Production Year:2021 | Volume:10 | Issue:2 Page(s): 63-70

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Information Journal Paper

Title

Tracking Control of Robots Revisited Based on Taylor Series and Asymptotic Expansion

Author(s)

Deylami Ali | Issue Writer Certificate

Keywords

Adaptive Uncertainty Estimation

Actuator Saturation

Stone-Weierstrass Theorem

Taylor Series

Abstract

This paper points out some errors based on the one-dimensional Taylor Series for a multi-dimensional function that is used for robots manufacturing. It is argued that the proof of theorem 1 is not mathematically true, and consequently, the obtained results cannot be correct. In addition to this, the stability analysis presented in the paper does not address the saturated area properly. Therein, stability is analyzed separately in saturated and unsaturated operation areas. However, the stability of the closed-loop system may not be guaranteed through these separate analyses, since transitions from saturation area to unsaturated area and vice versa are neglected. This work is an extension of the above paper, based on the revised Taylor Series and considering Actuator Saturation limit in both controller design and stability analysis.

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APA: Copy

Deylami, Ali. (2021). Tracking Control of Robots Revisited Based on Taylor Series and Asymptotic Expansion. JOURNAL OF MODERN PROCESSES IN MANUFACTURING AND PRODUCTION (JOURNAL OF MODERN PROCESSES OF MANUFACTURING ENGINEERING), 10(2), 63-70. SID. https://sid.ir/paper/1035147/en

Vancouver: Copy

Deylami Ali. Tracking Control of Robots Revisited Based on Taylor Series and Asymptotic Expansion. JOURNAL OF MODERN PROCESSES IN MANUFACTURING AND PRODUCTION (JOURNAL OF MODERN PROCESSES OF MANUFACTURING ENGINEERING)[Internet]. 2021;10(2):63-70. Available from: https://sid.ir/paper/1035147/en

IEEE: Copy

Ali Deylami, “Tracking Control of Robots Revisited Based on Taylor Series and Asymptotic Expansion,” JOURNAL OF MODERN PROCESSES IN MANUFACTURING AND PRODUCTION (JOURNAL OF MODERN PROCESSES OF MANUFACTURING ENGINEERING), vol. 10, no. 2, pp. 63–70, 2021, [Online]. Available: https://sid.ir/paper/1035147/en

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