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An Adaptive Backstepping Trajectory Tracking Control of a T..:

Binh, Nguyen Thanh ; Tung, Nguyen Anh ; Nam, Dao Phuong.
International Journal of Control, Automation and Systems.  17 (2019)  2 - p. 465-473 , 2019
Link: https://doi.org/10.1007/s12555-017-0711-0