Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation

Sagami, T., Sampei, M., & Nakaura, S. (2007). Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation. In Lecture Notes in Control and Information Sciences (Vol. 366 LNCIS, pp. 249–258). Springer Verlag. https://doi.org/10.1007/978-3-540-73890-9_19