Energy Shaping and Partial Feedback Linearization of Mechanical Systems with Kinematic Constraints

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Authors: O. Cieza-Aguirre, J. Reger

Journal title: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control

Journal publisher: IFAC

Published year: 2021

DOI identifier: 10.1016/j.ifacol.2021.11.085