Global stabilization of a fully actuated mechanical system on a Riemannian manifold: controller structure - researchr publication

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Nalin A. Chaturvedi, Anthony M. Bloch, N. Harris McClamroch. Global stabilization of a fully actuated mechanical system on a Riemannian manifold: controller structure. In American Control Conference, ACC 2006, Minneapolis, MN, USA, 14-16 June, 2006. pages 1-6, IEEE, 2006. [doi]

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