Szukana fraza: [Abstract = "The problem of \(semiglobal\) joint space trajectory tracking of rigid manipulators is considered. A new exponentially stable control algorithm is introduced. This algorithm requires only the knowledge of the manipulator dynamics along a desired trajectory. A set of n local universal adaptive controllers joined to each robot arm plays the role of generators of the 'correction of control'. The proposed universal adaptive tracking algorithm \(UATA\) has the following advantages\: \(i\) a balanced gain distribution in the feedback\-loop, \(ii\) small overshoots and \(iii\) a fast transient response."]

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