# A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities

> Research article (IEEE Robotics and Automation Letters, 2016) · cited 87× · AI/ML

**Wikidata**: [openalex:W2315724819](https://www.wikidata.org/wiki/openalex:W2315724819)  
**Source**: https://4ort.xyz/entity/a-model-free-controller-for-guaranteed-prescribed-performance-tracking-of-both-robot-joint-positions-and-velocities