# Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

> Research article (IFAC-PapersOnLine, 2017) · cited 23× · AI/ML

**Wikidata**: [openalex:W2613930001](https://www.wikidata.org/wiki/openalex:W2613930001)  
**Source**: https://4ort.xyz/entity/tracking-control-of-fully-actuated-port-hamiltonian-mechanical-systems-via-sliding-manifolds-and-contraction-analysis