The present paper describes finite-gain L2stability guaranteed locally by the proposed anti-windup adaptive law for Euler-Lagrange systems with actuator saturation. All constant parameters of the robot system are estimated for an arbitrary target orbit. In order to achieve finite-gain L2stability and ensure adaptive tracking performance, an output saturation function of the tracking error is introduced. The finite L2gains are derived considering four actuator saturation cases, and finite-gain L2stability is guaranteed locally based on passivity. The control performance is verified through numerical simulations using a two-link robot arm.

A static anti-integrator-windup controller design method is proposed for zero-gravity planar robot manipulators. The asymptotic stability is achieved using a simple static anti-windup gain matrix for PI or PID controllers. The control performance is verified by numerical simulations and experiments on a two-link planar 2DOF robot arm.