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Configuring tasks as constraints for coordinated mechanical systems: A Udwadia-Kalaba theory based adaptive robust control

Hao Sun 0008, Ye Hwa Chen, Yangshou Xiong, Han Zhao. Configuring tasks as constraints for coordinated mechanical systems: A Udwadia-Kalaba theory based adaptive robust control. J. Franklin Institute, 357(6):3387-3418, 2020. [doi]

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