A Neural Network Based Sliding Mode Control for Tracking Performance with Parameters Variation of a 3-DOF Manipulator
Round 1
Reviewer 1 Report
Please see the attached document.
Comments for author File: 
Comments.docx
Author Response
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Author Response File: 
Author Response.pdf
Reviewer 2 Report
How to deal with input uncertainties in (5) or (6).
In (33), (34), the first derivative on RHS is with respect to q1, q2 or q.
Author Response
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Author Response File: Author Response.pdf
Reviewer 3 Report
English must be improved.
The text is hard to follow, it needs better explanation of the method.
There are korean characters in the formulas that make reading the text harder.
There are many terms and variables introduced throrought the text that are not propertly defined.
Formula 2 is inconsistent: I suppose it tries to group in d the uncertain part of elements M, C and G, using a delta that holds the uncertainty for each element. This is correctly represented in M because it is separated in M hat plus delta M but this is not correctly done in the remaining elements. I.e., C and G lack the hat in formula 2.
There are many mistakes in the formulas, for instance:
Formula 2 is not correct. It shoud be d_3 + d_0 = sqrt(..) The formula in the given form gives a negative value for d_3. Also, formula 2 uses q_3 for the angle between d_1 and d_2, but this angle is named theta_3 in the image where it is explained.
...
Formula 41 indicates lambda_eq = -(lambda_e/lambda_de) but equation 43 indicates lambda_eq = +(lambda_e/lambda_de)
Some images lack a legend.
A better explanation of the results is needed.
References are out of order.
Author Response
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Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
Second review:
The reviewer thanks the authors for their changes to the manuscript. It has been much improved. However, some issues still remain that will need to be fixed before publication.
Minor:
Line 12: The authors did not remove the phrase “new-trial” from throughout the manuscript. The reviewer recommends removing this phrase because it sounds unnatural in English.
Line 142: Put the term “-Ks” into the equation font (i.e. italics).
Major:
The reviewer re-emphasizes that it is necessary for the authors to have a native English speaker proofread this manuscript thoroughly before publication.
Line 169: The phrasing “…we invest and setup working range of drivers” is not clear.
Line 294: The reviewer still believes that this conclusion is insufficient for a proper discussion. The authors have added more information to this section, which is helpful. However, they should also connect it to work from other studies, and explain how their work fits into the larger web of research being done in SMC, and robotics as a whole.
Author Response
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Author Response File: Author Response.pdf
Reviewer 2 Report
No comments.
Author Response
Dear Reviewer
I appreciate for your comment.
Best wishes
Ahn
Reviewer 3 Report
The changes made have improved the manuscript readability.
An English revision is advised.
Author Response
Please see n attached file.
Author Response File: Author Response.pdf
