Velocity field control for free-form contour following tasks by a two link robot. - Chao-Yun Chen; Ming-Yang Cheng; Yinghui Wang (ROSE, 2008)

Passivity-based contour following control design with virtual plant disturbance compensation. - Chao-Yun Chen; Ming-Yang Cheng; Jen-Che Wu; Ke-Han Su (AMC, 2010)