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Singularity-Free Finite-Time Adaptive Optimal Control for C..:

Wang, Shenquan ; Yang, Wen ; Jiang, Yulian..
IEEE Transactions on Human-Machine Systems.  54 (2024)  4 - p. 385-394 , 2024
Link: https://doi.org/10.1109/thms.2024.3397351