Contents -- Preface -- 1 Introduction -- Free space tracking of a rigid robot -- Compliant motion control of a rigid robot -- Consideration of the actuator dynamics -- Consideration of the joint flexibility -- The regressor-free adaptive controller design -- The FAT-based design -- Organization of the book -- 2 Preliminaries -- 2.1 Introduction -- 2.2 Vector Spaces -- 2.2.1 Metric space -- 2.2.2 Normed vector space -- 2.3 Best Approximation Problem in Hilbert Space -- 2.4 Orthogonal Functions -- Examples of orthonormal functions -- 1. Taylor polynomials -- 2. Chebyshev polynomials -- 3. Legendre polynomials -- 4. Hermite polynomials -- 5. Laguerre polynomials -- 6. Bessel polynomials -- 7. Fourier series -- 2.5 Vector and Matrix Analysis -- 2.5.1 Properties of matrices -- 2.5.2 Differential calculus of vectors and matrices -- 2.6 Various Norms -- 2.6.1 Vector norms -- 2.6.2 Matrix norms -- 2.6.3 Function norms and normed function spaces -- 2.7 Representations for Approximation -- 2.8 Lyapunov Stability Theory -- 2.8.1 Concepts of stability -- 2.8.2 Lyapunov stability theorem -- Lyapunov stability theorem for autonomous systems -- LaSalle's theorem (Invariant set theorem) -- Lyapunov stability theorem for non-autonomous systems -- Barbalat's lemma -- 2.9 Sliding Control -- Smoothed sliding control law -- 2.10 Model Reference Adaptive Control -- 2.10.1 MRAC of LTI scalar systems -- 2.10.2 MRAC of LTI systems: vector case -- 2.10.3 Persistent excitation -- 2.10.4 Robust adaptive control -- Dead-Zone -- s-modification -- 2.11 General Uncertainties -- 2.11.1 MRAC of LTV systems -- 2.11.2 Sliding control for systems with unknown variation bounds -- Bound estimation for uncertain parameter -- 2.12 FAT-Based Adaptive Controller Design -- FAT-based MRAC for LTV systems -- Consideration of approximation error.

The case when the bound for the approximation error is known -- 3 Dynamic Equations for Robot Manipulators -- 3.1 Introduction -- 3.2 Rigid Robot -- 3.3 Rigid Robot Interacting with Environment -- 3.4 Electrically-Driven Rigid Robot -- 3.5 Electrically-Driven Rigid Robot Interacting with Environment -- 3.6 Flexible Joint Robot -- 3.7 Flexible Joint Robot Interacting with Environment -- 3.8 Electrically-Driven Flexible Joint Robot -- 3.9 Electrically-Driven Flexible Joint Robot Interacting with Environment -- 3.10 Conclusions -- 4 Adaptive Control of Rigid Robots -- 4.1 Introduction -- 4.2 Review of Conventional Adaptive Control for Rigid Robots -- 4.3 Slotine and Li's Approach -- 4.4 The Regressor Matrix -- 4.5 FAT-Based Adaptive Controller Design -- 4.6 Consideration of Actuator Dynamics -- 4.6.1 Regressor-based adaptive control -- 4.6.2 Regressor-free adaptive control -- 4.7 Conclusions -- 5 Adaptive Impedance Control of Rigid Robots -- 5.1 Introduction -- 5.2 Impedance Control and Adaptive Impedance Control -- 5.3 Regressor-Based Adaptive Impedance Controller Design -- 5.4 FAT-Based Adaptive Impedance Controller Design -- 5.5 Consideration of Actuator Dynamics -- 5.5.1 Regressor-based adaptive controller -- 5.5.2 Regressor-free adaptive controller -- 5.6 Conclusions -- 6 Adaptive Control of Flexible Joint Robots -- 6.1 Introduction -- 6.2 Control of Known Flexible Joint Robots -- 6.3 Regressor-Based Adaptive Control of Flexible Joint Robots -- 6.4 FAT-Based Adaptive Control of Flexible Joint Robots -- 6.5 Consideration of Actuator Dynamics -- 6.5.1 Regressor-based adaptive controller design -- 6.5.2 Regressor-free adaptive controller design -- 6.6 Conclusions -- 7 Adaptive Impedance Control of Flexible Joint Robots -- 7.1 Introduction -- 7.2 Impedance Control of Known Flexible Joint Robots.

7.3 Regressor-Based Adaptive Impedance Control of Flexible Joint Robots -- 7.4 Regressor-Free Adaptive Impedance Control of Flexible Joint Robots -- 7.5 Consideration of Actuator Dynamics -- 7.5.1 Regressor-based adaptive controller design -- 7.5.2 Regressor-free adaptive controller design -- 7.6 Conclusions -- Appendix -- References -- Symbols, Definitions and Abbreviations -- Index.