Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective
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Publication:999064
DOI10.1016/j.automatica.2008.02.004zbMath1153.93008OpenAlexW2085592746MaRDI QIDQ999064
Publication date: 30 January 2009
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2008.02.004
Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Canonical structure (93B10) Transformations (93B17)
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