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Backstepping based hybrid adaptive control of robot manipulators incorporating actuator dynamics

By using the integrator backstepping technique, the control of rigid-link electrically-driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple due to the avoidance of the derivative computation of the regressor matrix. Semi-global asymptotic stability of the controller is established in the Lyapunov sense.