Comments on ``Robust control of electrically driven robots using adaptive uncertainty estimation''. (May 2019) - Kheirkhahan, Payam
Highlights: This note points out some errors in the work proposed by[1] . It is proven that according to the Stone-Weierstrass theorem, approximation of the lumped uncertainty (a real-valued function of several variables) by a first order Taylor series estimator is not technically correct, and consequently, the obtained results in the above-mentioned paper are not valid. Abstract: This note points out some errors in the above paper, which presents an indirect adaptive Taylor series control approach toward electrically driven robots in the joint space. In the proposed approach, the first order of Taylor series estimator is designed to approximate the lumped uncertainties (a real-valued function of several variables) in a decentralized form. However, in this note, it is proven that according to Stone-Weierstrass theorem, such an approximation is not technically correct, and consequently, the obtained results in the above-mentioned paper are not valid.