Composite adaptation and learning techniques were initially proposed for improving
parameter convergence in adaptive control and have generated considerable research …

In this paper we give a tutorial account of several of the most recent adaptive control results
for rigid robot manipulators. Our intent is to lend some perspective to the growing list of …

While considerable progress has been made in friction compensation, this is, apparently, the
first survey on the topic. In particular, it is the first to bring to the attention of the controls …

Adaptive control of linear time-invariant single-input single-output systems has been
extensively studied, and a number of globally convergent controllers have been derived …

The problem of a spacecraft tracking a desired trajectory is de ned and addressed using
adaptive feedback control. The control law, which has the form of a sixth-order dynamic …

The stability and robustness properties of the adaptive control scheme proposed by Sadegh
and Horowitz (1987) are stud ied. The properties include the global exponential stability and …

The problem of obtaining the angular velocity of a rigid body from orientation and torque
measurements only, without noisy numerical differentiation, is considered. A novel angular …

When designing an identification experiment for a system described by non-linear functions,
such as those of manipulator dynamics, it is necessary to consider the sufficiency of …

As the use and relevance of robotics for countless scientific purposes grows all the time,
research into the many diverse elements of the subject becomes ever more important and in …

The authors derive an adaptive inverse dynamics control law for rigid robots that overcomes
the most restrictive difficulty of such schemes to date, namely, the requirement that the …