An analytical form for a rigorous nonlinear model of the dynamics for systems with geometric constraints and its use by applying the results of control theory to a complete solution of stabilization problems
- International Robotics & Automation Journal
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Aleksandr Ya Krasinskiy,<sup>1</sup> Andrey A Yuldashev<sup>2</sup>
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Keywords
mathematical dynamics model, geometric constraints, stability, stabilization, linear-quadratic problem
