Szukana fraza: [Abstract = "Lyapunov\-type controllers for trajectory tracking of rigid robot manipulators are described. The so\-called passivity\-based controllers exploit the desired physical energy of the robot system. A discussion about tracking control in the absence of complete state information and model knowledge then leads to practical stability. It is shown that these Lyapunov\-type controllers can also be used in other mechanical systems as e.g. the controlled Duffing equation. In that case the controller can be used as a tool for creation or annihilation of chaotic dynamics."]

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