TY - JOUR

T1 - Comments on "Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics"

AU - Su, Yuxin

AU - Zheng, Chunhong

AU - Mercorelli, Paolo

PY - 2017/10/1

Y1 - 2017/10/1

N2 - This letter considers the paper entitled 'Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics' by B. Xiao, S. Yin, and O. Kaynak [IEEE Trans. Ind. Electron., vol. 63, no. 10, pp. 6439-6449, Oct. 2016], where the authors meant to provide an effective control for finite-time tracking of robot manipulators with both kinematic and dynamic uncertainties. This letter points out several flaws leading to the ineffectiveness of the main result in the paper. A correction is proposed.

AB - This letter considers the paper entitled 'Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics' by B. Xiao, S. Yin, and O. Kaynak [IEEE Trans. Ind. Electron., vol. 63, no. 10, pp. 6439-6449, Oct. 2016], where the authors meant to provide an effective control for finite-time tracking of robot manipulators with both kinematic and dynamic uncertainties. This letter points out several flaws leading to the ineffectiveness of the main result in the paper. A correction is proposed.

KW - Finite-time stability

KW - Robot control

KW - Tracking control

KW - Uncertain dynamics/kinematics

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85029950354&partnerID=8YFLogxK

U2 - 10.1109/TIE.2017.2694401

DO - 10.1109/TIE.2017.2694401

M3 - Journal articles

AN - SCOPUS:85029950354

VL - 64

SP - 8187

EP - 8189

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0093-9994

IS - 10

M1 - 7900346

ER -