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A standard Lagrangian model of the manipulator's dynamics has the form  \\[ A(q)\\ddot q+ B(q,\\dot q)= u,\\tag{\\(*\\)} \\]  where \\(q,\\dot q,\\ddot q,u\\in \\mathbb{R}^n\\), and \\(B(q,\\dot q)\\) may contain a friction term depending smoothly on joint positions and/or velocities. The controls are assumed to be bounded, \\(| u_i|\\leq K_i\\), \\(i= 1,2,\\dots,n\\). Given a desirable joint trajectory \\(q^*(t)\\), a control \\(u\\) is designed enabling a trajectory \\(q(t)\\) of system \\((*)\\) to track \\(q^*(t)\\) asymptotically. Tracking algorithms introduced in this paper have the form  \\[ u_i(t)= u^*_i(t)- \\alpha_i L_i(s_i),\\tag{\\(**\\)} \\]  where \\(\\alpha_i\\) -- a constant, \\(i=1,2,\\dots, n\\), and include a component \\(u^*_i(t)\\) corresponding to the desirable trajectory, and a saturation function \\(L_i(s_i)\\) that depends on the composed tracking error \\(s_i= \\dot\\xi_i- \\lambda_i\\xi_i\\), \\(\\xi_i= q_i- q^*_i\\), and is defined as  \\[ L_i(s_i)= \\begin{cases} \\gamma_i s_i\\quad & \\text{for }\\|\\gamma_i s_i\\|\\leq 1,\\\\ \\text{sgn}(s_i)\\quad & \\text{for }\\|\\gamma_i s_i\\|\\geq 1.\\end{cases} \\]  The main result of the paper shows that the control algorithm \\((**)\\) makes the tracking error system exponentially stable, semiglobally with respect to the design parameters \\(\\lambda_i\\), \\(\\gamma_i\\). A proof of stability presented in the paper is based on a vector Lyapunov function. The most interesting result establishing in this paper says that \\(L_i(s_i)\\) can be replaced by a suitably growing continuous or smooth bounded function \\(C_i(s_i)\\).","type":"string"},"datatype":"string"},"type":"statement","id":"Q1290750$2B65FBAF-EB39-4DF3-963C-56540BF9C9E5","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1290750$74024AF4-82C5-40B7-9FCC-1732FF0061EE","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"2fa76c7164e376773604f4bc3d4f3b3ab7cff386","datavalue":{"value":"1294877","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1290750$B66D842A-32A0-43AC-B0E5-4548E5C121F4","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a9ec39a7c81a4f237b460e995730c046c0440d52","datavalue":{"value":"manipulator's joint 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