Error invoking module in angularjs

I'm trying to use grunt for my app in angularjs. I have my app.js file as follows:

(function(){
    "use strict";
    angular.module('starter',['starter.features.controllers', 'starter.services', 'starter.directives'])

.......
})();

in it I call my module starter.features.controllers

angular.module('starter.features.controllers', ['ui.router', 'ngResource']);

without grunt everything goes well but when executing the grunt command I get this error:

http://errors.angularjs.org/1.5.8/$injector/nomod?p0=starter.features.controllers

I use grunt to minify my app these node_modules use

grunt-contrib-concat grunt-contrib-cssmin grunt-contrib-uglify grunt-processhtml

How can I resolve this error?

I thank you in advance