R. Kelly, V. Santibáñez, and A. Loría, Control of robot manipulators in joint space, Series Advanced textbooks in control engineering, pp.1-85233, 2005.

E. Ruiz, A. Zavala-río, V. Santibáñez, and F. Reyes, Global trajectory tracking through static feedback for robot manipulators with bounded inputs, IEEE Transactions on Control Systems Technology, vol.17, issue.04, pp.934-944, 2009.

J. J. Slotine and W. Li, On the adaptive control of robot manipulators, The International Journal of Robotics Research, vol.6, issue.3, pp.49-59, 1987.

J. J. Slotine and W. Li, Adaptive manipulator control: a case study, IEEE Trans. on Automat. Contr, vol.33, pp.995-1003, 1988.

J. J. Slotine and W. Li, Theoretical issues in adaptive manipulator control, 5th Yale Workshop on Apl. Adaptive Systems Theory, pp.252-258, 1987.

W. E. Dixon, M. S. De-queiroz, F. Zhang, and D. M. Dawson, Tracking control of robot manipulators with bounded torque inputs, Robotica, vol.17, issue.02, pp.121-129, 1999.

J. Xiao, H. Wang, W. Zhang, and H. Wei, Adaptive robotic control based on a filter function under the saturation of actuators, Machine Learning and Cybernetics, 2006 International Conference on, pp.283-287, 2006.

D. J. López-araujo, A. Zavala-río, V. Santibáñez, and F. Reyes, A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs, International Journal of Adaptive Control and Signal Processing, vol.29, issue.2, pp.180-200, 2015.

A. Loría, E. Panteley, and A. Teel, A new persistency-of-excitation condition for UGAS of NLTV systems: Application to stabilization of nonholonomic systems, Proc. 5th. European Contr. Conf, 1999.

A. Loría, E. Panteley, D. Popovic, and A. Teel, A nested Matrosov theorem and persistency of excitation for uniform convergence in stable non-autonomous systems, IEEE Trans. on Automat. Contr, vol.50, issue.2, pp.183-198, 2005.

R. Ortega, A. Loría, P. J. Nicklasson, and H. Sira-ramirez, Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications, 1998.

F. Ghorbel, B. Srinivasan, and M. W. Spong, On the uniform boundedness of the inertia matrix of serial robot manipulators, Journal of Robotic Systems, vol.15, issue.1, pp.17-28, 1998.

R. Gunawardana and F. Ghorbel, On the uniform boundedness of the coriolis/centrifugal terms in the robot equations of motion, International Journal of Robotics and Automation, vol.14, issue.2, pp.45-53, 1999.

I. Malkin, Ob usto?chivosti pri postoyanno de?stvuyuschih vozmyscheniyah, Russian. Engl. translation: On stability under constantly acting disturbances, pp.241-245, 1944.

E. D. Sontag, Smooth stabilization implies coprime factorization, IEEE Trans. on Automat. Contr, vol.34, issue.4, pp.435-443, 1989.

A. R. Teel and L. Zaccarian, On the Literature's Two Different Definitions of Uniform Global Asymptotic Stability for Nonlinear Systems, Advanced topics in control systems theory, vol.328, pp.285-289, 2006.

D. J. López-araujo, A. Zavala-río, V. Santibáñez, and F. Reyes, An SP-SD type global tracking controller for robot manipulators with bounded inputs, Proc. Congreso Latinoamericano de Control Automático, pp.791-797, 2014.

A. Loría, E. Panteley, D. Popovic, and A. R. Teel, ?-persistency of excitation: a necessary and sufficient condition for uniform attractivity, Proceedings of the 41st IEEE Conference on, vol.3, pp.3506-3511, 2002.