“…Based on the preceding observations, in this paper, we intend to extend the work proposed in Brahmi et al (2016) by using the adaptive decentralised control of a single MMR based on virtual decomposition control (VDC) (Zhu et al, 1997;Al-Shuka et al, 2014;Zhu, 2010;Luna et al, 2015) originally designed for fixed-base robotic systems with high degrees of freedom. Furthermore, diverging from what is seen in the available works in the literature, we propose an adaptive coordinated control based on the VDC approach.…”