Koditschek, Daniel E2023-05-222023-05-221987-05-012008-07-08https://repository.upenn.edu/handle/20.500.14332/33623Strict Lyapunov functions are constructed for a class of nonlinear feedback compensated mechanical systems, requiring no à priori information concerning the initial conditions of the closed-looped system. These Lyapunov functions may be used to design a stable adaptive version of the "computed-torque" algorithm for tracking a reference trajectory. A particular Lyapunov function is then generalized to permit an adaptive version of control scheme forced by reference dynamics rather than reference trajectory.GRASPKodlabPresentation