We consider a class of uncertain dynamical systems described by ordinary differential equations and characterized by certain structural conditions and known bounding functions. For a feasible class of desired state motions we present a class of controllers which assure asymptotic tracking to within any desired degree of accuracy. The results are applied to a general class of mechanical systems and are illustrated by a simple example and by application to a three degree-of-freedom model of a Manutec r3 robot.

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