@article{1999647, title={Stabilization of a Class of Nonholonomic Systems without Drift Using Time-State Control Form}, author={Hiromitsu KIYOTA and Mitsuji SAMPEI}, journal={Transactions of the Institute of Systems, Control and Information Engineers}, volume={12}, number={11}, pages={647-654}, year={1999}, doi={10.5687/iscie.12.647} }