Trajectory tracking control of nonholonomic Hamiltonian systems via canonical transformations

Kenji Fujimoto, Toshiharu Sugie. Trajectory tracking control of nonholonomic Hamiltonian systems via canonical transformations. In American Control Conference, ACC 2002, Anchorage, Alaska, USA, May 8-10 2002. pages 2818-2823, IEEE, 2002. [doi]

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