A New Motion Tracking Controller with Feedforward Compensation for Robot Manipulators Based on Sectorial Fuzzy Control and Adaptive Neural Networks

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

This paper investigates the adaptive optimal control of robots, which holds significant theoretical and practical importance. However, several areas require improvement:
1. There are spelling errors present, such as "authots" (line 72).
2. The references appear to be somewhat outdated, and there is a high frequency of citations from the author's own works in the literature review (references 11-14), suggesting that the literature review may lack comprehensiveness.
3. This study focuses on a robot hand with 2 degrees of freedom (DoF). Given that 2-DoF robots represent a relatively simple and well-explored research subject, it is essential to justify its significance or extend the study to include higher DoF robots for a more comprehensive analysis.
4. Building upon the author's previous work (Reference 12), this paper advances the research further. It is necessary to clearly delineate the differences between the two studies and conduct enhanced comparative experiments. Through these comparisons, the superiority of the proposed theoretical method over conventional approaches and the method in Reference 12 should be demonstrated.

Comments on the Quality of English Language

The document requires a thorough review of spelling.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

This article discussed the development of fuzzy control and Neural Network to achieve the control algorithm for manipulators. Although the proposed solution has been verified by experiment and strict theory, but the approach of Neural Network and Lyapunov stability is very traditional. Some comments need to be clarified as:

1. In lines 248 – 266, please clarify the consideration of Filipov solution, Lebesgue measure zero, etc. Why do we need to consider these problems ?, etc;
2. Fuzzy and Neural Network problems are the related consideration. Why do we need to combine them into this work, because we can solve this problem by only one of two above;
3. Please check the formulas 66, 67 because of the notation “subset”.
4. In Section of References, many papers are out of date, such as 1-6, 10, 11, 13, 15, 16, 17, 22- 28, 30, 32, 34, 36. Please add more appropriate recent references. Moreover, in recent times, many learning structures have been employed to apply Neural Network as well as the technique of eliminating Neural Network for robot control, such as in https://ieeexplore.ieee.org/abstract/document/10171231 , https://link.springer.com/article/10.1007/s11370-025-00590-5  , https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.6597 ,  etc. Please give some comparisons to highlight the contribution.

5. The proposed method was evaluated by Simulation Results. Authors must share the code on public platforms such as GitHub. Such research should not be a dead end after publication

Comments on the Quality of English Language

The sentence in lines 148, 149 should be rewritten.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

After the authors revised and supplemented the manuscript, the existing issues have been largely addressed.