Lyapunov recursive design of robust adaptive tracking control with L 2-gain performance for electrically-driven robot manipulators

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This paper develops a new Lyapunov recursive design for the tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty by taking a tracking performance into account. The tracking performance is evaluated by L 2-gain from a torque level disturbance signal to a penalty signal for the tracking error between outputs of the manipulator and desired trajectories. The novelty of our approach is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L 2-gain constraint, which provides a closed-form solution for non-linear H