Adaptive Non-Singular Fast Terminal Sliding Mode Trajectory Tracking Control for Robot Manipulators
Round 1
Reviewer 1 Report
In this paper, an ANSFTSMC approach is proposed for robot manipulators with internal uncertainties and external disturbances to achieve fast and high-precision trajectory tracking.
This research has important value. However, before publication, there are still some areas in the article that need to be improved. Below is my comment.
Check the style of section titles. Use the journal's template!
Row 96-97. Eq. number is missing.
There is no citation for [13] in the text. Please check this issue!
Plagiarisms were found in the Introduction, Section 2. (significant plagiarism) and Conclusions (!) without citations. Please check these issues!
The results are merely described and are limited to a one-to-one comparison. For comparison, is there no more recent approach than the 2002 NSTSMC approach [14]? The authors are encouraged to include a more detailed discussion section and critically discuss the observations from this investigation with existing literature. The authors should critically compare the obtained results with the recent contributions in a similar technical field. The findings and their implications should be discussed in the broadest context possible and the limitations of the work highlighted. Future research directions may also be mentioned. This section may be combined with Results.
Please check the paper for English editing and typos!
In general, the article makes a good impression and is devoted to an interesting and topical problem of robot manipulators.
Author Response
Please see the attachment.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
The paper presents a trajectory-tracking controller to consider the model uncertainty and external disturbances. First, a brand-new non-singular fast terminal sliding mode surface is put forth. Adding an auxiliary function might resolve the singularity issue brought on by the inverse of the error-related matrix throughout the controller design process. After that, Lyapunov synthesis is used to create the controller. With adaptive update legislation made to account for the upper bound of lumped uncertainty whose upper bound is unknown in 10 priors, a robust adaptive technique is employed to handle lumped uncertainty. Finally, a simulation example using a two-link robot manipulator shows how successful the suggested plan is. The paper generally sounds good; the following comments I hope help for further improvement:
-The author declares that the designed controller is fast; how is the controller's speed examined?
- "novel non-singular sliding mode"; this controller has been widely studied; the authors should clarify what the novelty is.
-there are some typo errors; for example, in page 1, before the reference number, there is no distance; check the paper thoroughly;
-Add a reference to the main equations; for example, see equation (1); which has no reference
-some variables have not been defined; please add a table of parameter definition;
- How the performance can be improved using new fuzzy controllers, such as
A robust fuzzy control approach for path-following control of autonomous vehicles
-There is no control diagram; add some diagrams and flowcharts to understand your approach better
-please add some statements about why your trajectory of yours is better? and in which circumstance the results of other methods have been obtained; As you know, in each controller, there are some free parameters that by adjustment, the performance may be changed and improved; please check the best possible performance of other compared methods;
-give the precise simulation conditions to readers to able to re-obtain your results
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
All my comments were taken into account and necessary corrections were made. The article looks much better.
Reviewer 2 Report
All comments have been applied; now it can be accepted in my opinion;
