Text this: Stable decentralized adaptive control design of robot manipulators using neural network approximations

            _____    ______     _____    ______   
  ____     |  ___|| |      \\  |  ___|| |      \\ 
 |    \\   | ||__   |  --  //  | ||__   |  --  // 
 | [] ||   | ||__   |  --  \\  | ||__   |  --  \\ 
 |  __//   |_____|| |______//  |_____|| |______// 
 |_|`-`    `-----`  `------`   `-----`  `------`  
 `-`