# TDE Based Model-free Control for Rigid Robotic Manipulators under Nonlinear Friction

> Research article (Scientia Iranica, 2022) · cited 22× · AI/ML

**Wikidata**: [openalex:W4285103717](https://www.wikidata.org/wiki/openalex:W4285103717)  
**Source**: https://4ort.xyz/entity/tde-based-model-free-control-for-rigid-robotic-manipulators-under-nonlinear-friction