Aneel Tanwani, Bernard Brogliato, Christophe Prieur. Passivity-Based Observer Design for a Class of Lagrangian Systems with Perfect Unilateral Constraints.
52nd IEEE Conference on Decision and Control (CDC 2013), Dec 2013, Florence, Italy. pp.3338-3343,
⟨10.1109/CDC.2013.6760393⟩.
⟨hal-00908734⟩