Rafael Kelly. Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions. IEEE Trans. Automat. Contr., 43(7):934-938, 1998. [doi]
@article{Kelly98-3,
title = {Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions},
author = {Rafael Kelly},
year = {1998},
doi = {10.1109/9.701091},
url = {https://doi.org/10.1109/9.701091},
researchr = {https://researchr.org/publication/Kelly98-3},
cites = {0},
citedby = {0},
journal = {IEEE Trans. Automat. Contr.},
volume = {43},
number = {7},
pages = {934-938},
}