@article {Zhu:May 2007:0169-1864:711,
	author = "Zhu, Xiaocai",
	author = "Dong, Guohua",
	author = "Hu, Dewen",
	title = "Unified nonsingular tracking and stabilization controller design for unicycle-type wheeled mobile robots",
	journal = "Advanced Robotics",
	volume = "21",
	year = "May 2007",
	abstract = "A unified, singularity-avoidant controller which enables simultaneous trajectory tracking and posture stabilization of unicycle-type wheeled mobile robots is proposed. The design scheme is based on phase portrait analysis, dynamic feedback linearization and sliding mode control. Path planning <I>via</I> phase portrait analysis plays a key role in choosing the control parameters and the initial value of the extended state in avoiding any singularity. Simulation results on posture stabilization as well as an eight-shaped trajectory tracking are presented to demonstrate the performance of the proposed controller.",
	pages = "711-728(18)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2007/00000021/F0020005/art00010"
	doi = "doi:10.1163/156855307780108196"
}