CMAC Adaptive Control of Flexible-joint Robots using Backstepping with Tuning Functions.

C. J. B. Macnab Gabriele M. T. D'Eleuterio Max Q.-H. Meng CMAC Adaptive Control of Flexible-joint Robots using Backstepping with Tuning Functions. 2679-2686 2004 conf/icra/2004 ICRA https://doi.org/10.1109/ROBOT.2004.1307465 db/conf/icra/icra2004-3.html#MacnabDM04