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Interconnection and Damping Assignment Passivity-Based Control for port-Hamiltonian mechanical systems with only position measurements.

Daniel Alonzo DirkszJacquelien M. A. ScherpenRomeo Ortega
Published in: CDC (2008)
Keyphrases
  • mechanical systems
  • motion planning
  • kinematic model
  • control strategy
  • real time
  • control system
  • computer aided
  • dynamic model
  • position and orientation