Abstract Rotations for Uniform Adaptive Control and Soft Modeling of Mechanical Devices

Round 1

Reviewer 1 Report

Dear authors, 

thank you for the paper. I read it with great interest. First of all, the introductory part, which puts the newly proposed method into a broader theoretical perspectives and also puts it into the historical context with other methods during their development. The presented simulation results are promising. The paper also contains links to a number of interesting resources. I only found few typos: 

line 215 - They role - Their role...

line 281 - "Kinematicc Block"

Figure 11 - caption Trajectory tracking for - Trajectory tracking error for

The link for sample program does not work

Section 4. Simulation results - information about the computing time could be interesting

I look forward to your future research results - comparison of the proposed approach with some other traditional methods.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

A good experimental work with a very detailed overview. I would like to wish the authors to continue their research in this area.

Constructive models of real mechanical systems always contain unaccounted-for parameters related, for example, to friction, the presence of a groove kind of backlash and parasitic deformations. To adjust these parameters and parry perturbations, various kinds of simplified regulators such as propotional-integral-differential and a number of others are used. The article considers the possibility of applying an adaptive controller based on neural networks to a second-order mechanical system that is a hoop rotating around a horizontal axis with a point mass put on a spoke that has a visco-elastic attachment along the spoke. The control is the torque applied to the axis of rotation of the hoop. The generalized coordinates are the angle of rotation of the hoop and the position of the point mass on the spoke. The coordinates are measured at a given clock frequency in the presence of Gaussian noise. The paper presents the results of extensive modeling, demonstrating the effectiveness of the proposed approach. In addition, the article provides a fairly complete overview of adaptive control methods. According to the reviewer, the article is of undoubted interest for specialists and can be recommended for publication.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf