非ホロノミック2次チェインドシステムの大域的指数安定化制御 : オブザーバと安定化補償器の設計(機械力学,計測,自動制御)
作者： Manabu YAMADA , Hiroaki TAKANO , Yasuyuki FUNAHASHI
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sci-hub.se 参考文章(20)
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