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Warren E. Dixon. Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics. In Proceedings of the 2004 American Control Conference, ACC 2004, Boston, MA, USA, June 30 - July 2, 2004. pages 3839-3844, IEEE, 2004. [doi]

The following publications are possibly variants of this publication:

Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and DynamicsWarren E. Dixon. tac, 52(3):488-493, 2007. [doi]

Adaptive set-point control of robotic manipulators with amplitude-limited control inputsErkan Zergeroglu, Warren E. Dixon, Aman Behal, Darren M. Dawson. robotica, 18(2):171-181, 2000. [doi]

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