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UDE-based trajectory tracking control for flexible-joint manipulators with model uncertainties and backlash-like hysteresis

Crossref DOI link: https://doi.org/10.1007/s11432-025-4804-2

Published Online: 2026-03-18

Published Print: 2026-08

Update policy: https://doi.org/10.1007/springer_crossmark_policy

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