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Barrier Lyapunov function-based model-free constraint position control for mechanical systems
Han, Seong Ik; Ha, Hyunuk; Lee, Jangmyung.
Journal of Mechanical Science and Technology; Heidelberg Vol. 30, Iss. 7, (Jul 2016): 3331-3338.
DOI:10.1007/s12206-016-0642-3
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