Aneel Tanwani, Bernard Brogliato, Christophe Prieur. Passivity-based observer design for a class of Lagrangian systems with perfect unilateral constraints. In Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, December 10-13, 2013, Firenze, Italy. pages 3338-3343, IEEE, 2013. [doi]
Abstract is missing.