Constructive Tool for Orbital Stabilization of Underactuated Nonlinear Systems: Virtual Constraints Approach

Anton S. Shiriaev, John W. Perram, Carlos Canudas de Wit. Constructive Tool for Orbital Stabilization of Underactuated Nonlinear Systems: Virtual Constraints Approach. IEEE Trans. Automat. Contr., 50(8):1164-1176, 2005. [doi]

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