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Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method

Isaac Gandarilla, Víctor Santibáñez, Jesús Sandoval, Ricardo Campa. Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method. Int. J. Control, 95(6):1419-1431, 2022. [doi]

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