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Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances
- Franco, Enrico, Arpenti, Pierluigi, Donaire, Alejandro, Ruggiero, Fabio
Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances
- Franco, Enrico, Arpenti, Pierluigi, Donaire, Alejandro
Energy shaping nonlinear control of underactuated needle insertion
- Franco, Enrico, Donaire, Alejandro
Energy shaping control with integral action for soft continuum manipulators
- Franco, Enrico, Garriga Casanovas, Arnau, Donaire, Alejandro
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