@INPROCEEDINGS{6859407, author={S. Kolathaya and A. D. Ames}, booktitle={2014 American Control Conference}, title={Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty}, year={2014}, volume={}, number={}, pages={3710-3715}, keywords={Lyapunov methods;asymptotic stability;manipulators;optimal control;parameter estimation;quadratic programming;regression analysis;base inertial parameters;control Lyapunov function;exponential convergence;exponential stability;linear equality constraints;motion equations;optimal controller;parameter estimation;parameter linearity;parameter uncertainty;quadratic program;regressor construction;robotic systems;state space augmentation;unified CLF controller;Aerospace electronics;Computational modeling;Convergence;Lyapunov methods;Mathematical model;Robots;Torque;Direct adaptive control;Identification;Mechanical systems/robotics}, doi={10.1109/ACC.2014.6859407}, ISSN={0743-1619}, month={June},}