Backstepping adaptive position control for robotic manipulators. - Donatien Nganga-Kouya; Maarouf Saad; L. Lamarche; C. Khairallah (ACC, 2001)

Backstepping adaptive hybrid force/position control for robotic manipulators. - Donatien Nganga-Kouya; Maarouf Saad; L. Lamarche (ACC, 2002)

Backstepping passivity adaptive position control for robotic manipulators. - Donatien Nganga-Kouya; Maarouf Saad; L. Lamarche (ACC, 2002)