Research on a Three-Dimensional Fuzzy Active Disturbance Rejection Controller for the Mechanical Arm of an Iron Roughneck
Round 1
Reviewer 1 Report
Dear Authors,
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Comments for author File: 
Comments.pdf
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Author Response
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Author Response File: Author Response.pdf
Reviewer 2 Report
This paper presents a three-dimensional fuzzy active disturbance rejection controller for the mechanical arm of an iron roughneck, and a three-dimensional fuzzy module is added to the classical active disturbance rejection controller to compensate the controller output according to the tracking of differential deviation, deviation change rate, and deviation change acceleration rate. Several flaws exist in this paper, as follows.
1. Compared with previous literature, what are the main contributions of this paper? Moreover, recent pieces of literature should be added.
2. Only the position kinematics modeling of MAIR is presented in this paper. However, quintic polynomials are used in trajectory planning. How to determine the initial conditions of acceleration terms?
3. What is the relationship between the servo-valve model given in Section 2.4 and the MAIR? Position information needs to be solved by MAIR's inverse kinematic model rather than given by trajectory planning, so there are errors in Fig. 8.
4. How to ensure the stability of the proposed control system?
Author Response
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Author Response File: Author Response.pdf
Reviewer 3 Report
The author has proposed Research on Three-dimensional Fuzzy Active Disturbance Rejection Controller for Mechanical Arm of Iron Roughneck. The study is very interesting. However, the manuscript needs to undergo the following revisions:
(1) The author has claimed that traditional proportional-integral-derivative (PID) controllers for the electro-hydraulic servo system can no longer meet the control requirements of iron roughnecks. The author does not explain what the control requirements are. If the control requirements are only position control of MAIR then in my opinion, PID control with proper tuning algorithms (Whale optimizer algorithm, Cuckoo search, PSO, NM, Dahlin algorithm, etc.) can achieve better tracking performance.
(2) It is recommended to justify the stability, robustness, and feasibility of different approaches. Concepts such as the Nyquist diagram, eigenvalues, etc. can significantly improve the quality of the work and make it more understandable and justifiable.
(3) The conversion from equation 12 to equation 13 is not understandable. If it is from published literature, then please specify the reference. What is be, A1, A2? Provide a list of symbols or nomenclature for each symbol to ensure the clarity and completeness of the paper. There are several symbols in the equation that have not been defined in writing.
(4) Please specify the reference for the parameters of the hydraulic system.
(4) Please cite the reference for equations used to develop the mathematical model.
(5) There are no experimental results for comparisons among different control techniques. Please perform the experiment to verify the effectiveness and novelty of the proposed control strategy.
Minor editing of English language required
Author Response
Thank you for your review! Please see the attachment.
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
Reviewer 2 Report
All my comments have been properly accommodated.
Reviewer 3 Report
All suggested improvements have been implemented by the author.
