Nonsmooth stabilizer for three link nonholonomic manipulator using polar-like coordinate representation

Pazderski, D., Kozłowski, K. R., & Krysiak, B. (2009). Nonsmooth stabilizer for three link nonholonomic manipulator using polar-like coordinate representation. Lecture Notes in Control and Information Sciences, 396, 35–44. https://doi.org/10.1007/978-1-84882-985-5_4