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Three different types of controllers are developed: (1) an exact model knowledge\u2010based controller, (2) an adaptive controller that compensates for parametric uncertainty, and (3) a robust controller that compensates for parametric uncertainty and unknown bounded disturbances. All three controllers are based on previously published work but are presented here in a unifying framework. \u00a9<jats:italic>1995 John Wiley &amp; Sons, Inc<\/jats:italic>.<\/jats:p>","DOI":"10.1002\/rob.4620120305","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:04:56Z","timestamp":1183745096000},"page":"199-216","source":"Crossref","is-referenced-by-count":78,"title":["Contril of rigid\u2010link, flexible\u2010joint robots:a survey of backstepping approaches"],"prefix":"10.1002","volume":"12","author":[{"given":"M. M.","family":"Bridges","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D. 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