Le, C., K. N. Tien, L. Nguyen, T. Nguyen, and T. Hoang. “DESIGNING A ROBUST ADAPTIVE TRACKING BACKTEPPING CONTROLLER CONSIDERING ACTUATOR SATURATION FOR A WHEELED MOBILE ROBOT TO COMPENSATE UNKNOWN SLIPPAGE”. Journal of Computer Science and Cybernetics, vol. 36, no. 2, May 2020, p. 187-04, doi:10.15625/1813-9663/36/2/14807.