266 citations
- Queensland University of TechnologyAU7 papers
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eess.SY2021★ 1 cited
A Novel Passivity-Based Trajectory Tracking Control For Conservative Mechanical Systems
Robert Mahony
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation…
eess.SY2021★ 9 cited
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups
Yonhon Ng, Pieter van Goor, Tarek Hamel +1
This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a ma…