@inproceedings{ad3bad60704c4fefab5546ab040ac5b3,
title = "Uniform global asymptotic stability of an adaptive output feedback tracking controller for robot manipulators",
abstract = "Two important practical aspects of robot manipulators control are the difficulty of obtaining accurate velocity measurements and the uncertainty of parameters of the dynamical model. To deal with these problems, several adaptive output feedback tracking controllers have been proposed. In this paper, it is proved that, as long as the regression matrix is persistenly exciting, uniform global asymptotical stability can be achieved through an adaptive output feedback controller.",
keywords = "Adaptive control, Lyapunov stability, Output feedback control, Robot control",
author = "Antonio Yarza and Victor Santibanez and Javier Moreno-Valenzuela",
note = "Funding Information: This work is partially supported by CONACyT and DGEST.",
year = "2011",
doi = "10.3182/20110828-6-IT-1002.02581",
language = "Ingl{\'e}s",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "14590--14595",
booktitle = "Proceedings of the 18th IFAC World Congress",
address = "Austria",
edition = "1 PART 1",
}