Canonical form

Stable adaptive observers for nonlinear time-varying systems

Georges Bastin, M. Gevers

Citations: 477 • 1988

Dynamical feedback control of robotic manipulators with joint flexibility

H. Sira‐Ramírez, S. Ahmad, Mohamed Zribi

Citations: 71 • 1992

An approximate observer for a class of nonlinear systems

S. Nicosia, P. Tomei, Antonio Tornambè

Citations: 60 • 1989

Remarks on robot dynamics: canonical transformations and Riemannian geometry

Mark W. Spong

Citations: 59 • 2003

A Survey on the Computation of Quaternions From Rotation Matrices

Soheil Sarabandi, Federico Thomas

Citations: 45 • 2018

Canonical nilpotent approximation of control systems: application to nonholonomic motion planning

A. Bellaïche, J.-P. Laumond, Monique Chyba

Citations: 32 • 2002

On Tracking Control of Rigid-Joint Robots With Only Position Measurements

Daniel A. Dirksz, Jacquelien M.A. Scherpen

Citations: 22 • 2012

Exponential stabilization of non-holonomic systems: An ENI approach

Wei Huo, Shuzhi Sam Ge

Citations: 21 • 2001

Adaptive Unknown Input Estimation by Sliding Modes and Differential Neural Network Observer

Iván Salgado, Isaac Chaírez

Citations: 20 • 2017

Control system modeling for robot manipulators by use of a canonical transformation

You-Liang Gu, Nan K. Loh

Citations: 16 • 2005

Canonical representation of a nonstationary path following problem

А. В. Пестерев, Lev Rapoport, С. Б. Ткачев

Citations: 15 • 2015

Canonical bases for real representations of Clifford algebras

Ayşe Hümeyra Bilge, Şahin Koçak, Selman Uǧuz

Citations: 14 • 2006

Canonical representation of the path following problem for wheeled robots

А. В. Пестерев, Lev Rapoport

Citations: 12 • 2013

A standard form for the dynamics of general manipulation systems

Antonio Bicchi, Domenico Prattichizzo

Citations: 11 • 2002

Identification of Canonical Basis of Screw Systems Using General-Special Decomposition

Genliang Chen, Hao Wang, Zhongqin Lin, Xinmin Lai

Citations: 10 • 2018

A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method

Takahiro Yamamoto, Keigo Watanabe

Citations: 8 • 2010

Port-Hamiltonian control of a brachiating robot via generalized canonical transformations

Keivan Ebrahimi, Mehrzad Namvar

Citations: 7 • 2016

System Modeling

Patricia Mellodge

Citations: 6 • 2015

Inverse Velocity and Acceleration Solutions of Serial Robot Arm Subassemblies Using the Canonical Coordinate System

Michael M. Stanišié, Gordon R. Pennock, Charles M. Krousgrill

Citations: 6 • 1988

Gain Design of Quasi-Continuous Exponential Stabilizing Controller for a Nonholonomic Mobile Robot

Shogo NONAKA, Takeshi Tsujimura, Kiyotaka Izumi

Citations: 5 • 2016