Stabilization of Nonholonomic Pendulum Skate by Controlled Lagrangians. - Jorge Silva Garcia; Tomoki Ohsawa (CDC, 2022)

Controlled Lagrangians and Stabilization of Euler-Poincaré Equations with Symmetry Breaking Nonholonomic Constraints. - Jorge Silva Garcia; Tomoki Ohsawa (J. Nonlinear Sci., 2024)