@article{zachi_liu_lizarralde_leite_2006,  title={Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking},  volume={17},  ISSN={0103-1759},  url={https://doi.org/10.1590/S0103-17592006000400001},  DOI={10.1590/S0103-17592006000400001},  number={4},  journal={Sba: Controle & Automação Sociedade Brasileira de Automatica},  publisher={Sociedade Brasileira de Automática},  author={Zachi, Alessandro R. L. and Liu, Hsu and Lizarralde, Fernando and Leite, Antonio C.},  year={2006},  month={Oct},  pages={381–390} }