Abstract
In paper ‘Robustness of Adaptive Control of Robots’ by Ghorbel and Spong, the adaptive control of flexible joint robots is investigated using a singular perturbation approach and composite Lyapunov theory. In this note, we correct a missing term from the boundary-layer system of that paper and then show that the stability analysis presented remains valid.
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References
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Ghorbel, F., Spong, M.W. Correction to ‘Robustness of Adaptive Control of Robots’ by F. Ghorbel and M.W. Spong. J Intell Robot Syst 10, 209–215 (1994). https://doi.org/10.1007/BF01258229
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DOI: https://doi.org/10.1007/BF01258229