Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective

  1. Mulero-Martínez, J.I.
Journal:
Automatica

ISSN: 0005-1098

Year of publication: 2008

Volume: 44

Issue: 9

Pages: 2435-2440

Type: Article

DOI: 10.1016/J.AUTOMATICA.2008.02.004 GOOGLE SCHOLAR
Data source: Scopus