Comments on “A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators”

This letter considers the work entitled “A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators” by Baek, Jin, and Han, where the authors aim to provide a new adaptive sliding-mode control for the good tracking performance with small chattering effect. This letter points out a serious error and the untenable main result in the letter. Corrections are proposed.