# A family of virtual contraction based controllers for tracking of flexible‐joints port‐Hamiltonian robots: Theory and experiments

> Research article (International Journal of Robust and Nonlinear Control, 2020) · cited 20× · AI/ML

**Wikidata**: [openalex:W3009036410](https://www.wikidata.org/wiki/openalex:W3009036410)  
**Source**: https://4ort.xyz/entity/a-family-of-virtual-contraction-based-controllers-for-tracking-of-flexiblejoints-porthamiltonian-robots-theory-and-exper