An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears

Soheil Ahangarian Abhari, Farzad Hashemzadeh, Mahdi Baradarannia, Hamed Kharrati. An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears. Trans. Inst. Meas. Control, 41(10):2789-2802, 2019. [doi]

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