Adaptive control of manipulators by a contraction analysis approach

In this paper, we investigate the tracking problem of robot manipulators by a contraction analysis approach. We propose a control scheme to achieve the aim of trajectory tracking. Besides, we use a contraction analysis approach rather than Lyapunov function to analysis the stability and guarantee the exponential convergence of the closed system. Finally, the performance of proposed control strategy is proved by MATLAB numerical simulations.

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