Jian Wang Xiangyang Zhu Masahiro Oya Chun-Yi Su Robust motion tracking control of partially nonholonomic mechanical systems. 332-341 2006 54 Robotics and Autonomous Systems 4 http://dx.doi.org/10.1016/j.robot.2005.11.007 db/journals/ras/ras54.html#WangZOS06