Philippe Hamelin Julien Beaudry Pierre-Luc Richard Pascal Bigras Michel Blain Position Tracking Control of a Direct-drive Submersible Grinding Robot: A Comparative Study. 1570-1575 2010 CCA http://dx.doi.org/10.1109/CCA.2010.5611275 conf/IEEEcca/2010 db/conf/IEEEcca/IEEEcca2010.html#HamelinBRBB10