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Derivative-Free Generalized Multivariable Super-Twisting Control for Constrained Euler-Lagrange Systems
Robotic manipulators performing payload lift-and-transfer must track prescribed trajectories under abrupt load changes, with limited actuation and inaccurate plant knowledge. Such plants are inherently described by multivariable Euler--Lagrange~(EL) dynamics with cross-coupling established through i
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