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A GES joint position trajectory tracking smooth controller ..:

Sandoval, Jesús ; Cervantes‐Pérez, Luis ; Santibáñez, Víctor..
International Journal of Robust and Nonlinear Control.  34 (2023)  2 - p. 1032-1053 , 2023
Link: https://doi.org/10.1002/rnc.7015