Matching and stabilization of low-dimensional nonholonomic systems. - Dimitry V. Zenkov; Anthony M. Bloch; Naomi Ehrich Leonard; Jerrold E. Marsden (CDC, 2000)

Flat nonholonomic matching. - Dimitry V. Zenkov; Anthony M. Bloch; Jerrold E. Marsden (ACC, 2002)

Controlled Lagrangian methods and tracking of accelerated motions. - Dimitry V. Zenkov; Anthony M. Bloch; Jerrold E. Marsden (CDC, 2003)

Steering the Chaplygin Sleigh by a Moving Mass. - Jason M. Osborne; Dimitry V. Zenkov (CDC/ECC, 2005)