Linear-Extended-State-Observer-Based Adaptive RISE Control for the Wrist Joints of Manipulators with Electro-Hydraulic Servo Systems
Round 1
Reviewer 1 Report
Comments and Suggestions for AuthorsComments to the Authors
The paper investigates the problem of control for wrist Joint of Manipulators with electro-hydraulic servo systems. The following comment can help authors to improve the paper.
1. The title should not include undefined abbreviation like LESO.
2. What does it mean adaptive rise control?
3. The abstract should be rewritten to provide the main idea of the study. The numerical results should be removed.
4. The authors should highlight the motivations and contributions of the paper.
5. 5. What does the index i in 2 refer to?
6. The mathematical equations should be well formatted.
7. What does it mean “optional positive constants” in line 223.
8. The problem formulation in section 2 is missing.
9. 9. How can you explain that observer 15 is linear, however matrix M is dependent on x1?
10. The core part of the paper is the design of the controller for the system under consideration. However, this part needs deep improvement.
- What does it mean RISE-Based Controller Design?
- This section does not include any references.
- The choice of the proposed approach should be justified.
- Eq 36 should be well stated.
- The notation of the variables should be well respected. Example P1 and P2 in 43 .
- How to verify that \Lambda in 48 is positive?
11. The English of the paper should be improved.
12. The limitation of the method should be included.
Comments on the Quality of English Language
The English should be improved.
Author Response
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Author Response File: 
Author Response.pdf
Reviewer 2 Report
Comments and Suggestions for AuthorsDear authors,
thank you for your paper, which I think is almost ready for pubblication.
Two points should be developed in order to improve your work:
1) In paragraph 2 the dynamics of the servovalves is neglected; you should explain the reasons for this choice
2) Figures from 4 to 6 should be introduced by a plot describing the set for each servoaxes of the wrist as well as of the three main d.o.f. A figure showing some significant poses reached by the TCP as a consequence of the motion could also be useful
Finally, please check the paper as I found a few typos
Author Response
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Author Response File: Author Response.pdf
Reviewer 3 Report
Comments and Suggestions for AuthorsThe papaert present the cmparison of different control methods under the same estimation method for a 3 DoF pneumatic wirst.
The papaer is well written and the problems and the soutions are well stated.
I some comments for the work:
1) what are the step responce parameters for the hydraulic motors?
2) In the result section, please, plot the reference trrajectory versus the actual trajectory, since the tracking error is not sufficient to appreciate the contor action.
3) In the result section, please,plot the estimation error of the joints states.
Author Response
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Author Response File: Author Response.pdf
Reviewer 4 Report
Comments and Suggestions for Authors
An adaptive continuous robust integral of 15 the sign of the error (ARISE) controller is designed for an electrohydraulic servo.
1, In page 3, “A mechanical wrist joint dynamic model considering continuous external disturbances is established, which improves the modeling accuracy compared with the previous single-joint decomposition control.” How authors prove that the proposed model improve the modeling accuracy?
2, The paragraph 2 and 3 can be deleted (INTRODUCTION) since this manuscript is focus on control method.
3, Which four control strategies were compared with proposed controller? In page 13, line 432.
Comments on the Quality of English LanguageWell
Author Response
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Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
Comments and Suggestions for AuthorsComments to the Authors
The authors have responded to my comments; however, I have some suggestions:
1/ I believe that the title of section2 should only be system models
2/ Please check the equation’s number in this this sentence ‘’Combined with (13) and (14), the state space equation (10) can be redescribed as:’’
3/ The same remark for According to (15), the ESO structure can be expressed as:
4/ Same remark for ‘Combined with (24)~(26), the virtual control rate \alpha 2 is designed as:’
5/ In system 15-16, I prefer arranging \hat x3 before \hat xe1
6/ It is mentioned that ‘ The design process of the controller is based on the backstepping technique’. The authors should explain how, their study is based on backstepping. Where is it the different steps of backstepping analysis?
7/ Section 4 is repeated.
8/ I prefer that the controller design technique contains a proposition (or theorem) ended with stability proof.
9/ For C1 controller, the authors should give a brief description of how the parameters are chosen.
10/ Figure 4 is not mentioned in the text.
11/ The paper needs more attentions to be accepted.
Comments on the Quality of English Language
Can be improved.
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
Round 3
Reviewer 1 Report
Comments and Suggestions for AuthorsI beleive that the authors have responded to my comments
