# Smooth and robust multi-mode shaped commands

> Research article (Mechanical Systems and Signal Processing, 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W4200450589](https://www.wikidata.org/wiki/openalex:W4200450589)  
**Source**: https://4ort.xyz/entity/smooth-and-robust-multi-mode-shaped-commands