# A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators

> Research article (Advances in Mechanical Engineering, 2016) · cited 31× · AI/ML

**Wikidata**: [openalex:W2326226961](https://www.wikidata.org/wiki/openalex:W2326226961)  
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