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Global stabilization of a fully actuated mechanical system on a Riemannian manifold: controller structure.
Nalin A. Chaturvedi
Anthony M. Bloch
N. Harris McClamroch
Published in:
ACC (2006)
Keyphrases
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open loop
riemannian manifolds
closed loop
geometric structure
euclidean space
control system
control scheme
vector space
symmetric positive definite