# Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties

> Research article (Automatica, 2023) · cited 60× · AI/ML

**Wikidata**: [openalex:W4382461401](https://www.wikidata.org/wiki/openalex:W4382461401)  
**Source**: https://4ort.xyz/entity/passivity-based-hierarchical-multi-task-tracking-control-for-redundant-manipulators-with-uncertainties