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A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments. (arXiv:2002.01542v1 [eess.SY]) http://arxiv.org/abs/2002.01542
A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments. (arXiv:2002.01542v1 [eess.SY]) http://arxiv.org/abs/2002.01542