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Dynamic Inversion and Optimal Tracking Control on the Ball-Plate System Based on a Linearized Nonholonomic Multibody Model

https://doi.org/10.2139/ssrn.4862531
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The roles of shape and motion in dynamic manipulation: the butterfly example
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Switching-Driving Lyapunov Function and the Stabilization of the Ball-and-Plate System
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Visual Servo Control for Balancing a Ball-Plate System
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