A note on Lyapunov stability for an adaptive robot controller

Abstract

Stability in the sense of Lyapunov for the adaptive robot controller proposed by Slotine and Li (1988) is proved in this note. The result is a generalization of previous work, where the feedback gain matrix was assumed to be constant and diagonal, while in this paper the feedback gain matrix is only assumed to be uniformly positive definite.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>