1. Reyhanoglu, M.: Exponential stabilization of an underactuated autonomous surface vehicle. Automatica 33(12), 2249–2254 (1997)
2. Xie, W., Ma, B.: Robust global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters. Int. J. Robust Nonlinear Control 25(7), 1037–1050 (2015)
3. Pettersen, K.Y., Egeland, O.: Exponential stabilization of an underactuated surface vessel. In: Proceedings of 35th IEEE Conference on Decision and Control, vol. 1, pp. 967–972. IEEE (1996)
4. Oriolo, G., Nakamura, Y.: Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators. In: Proceedings of 30th IEEE Conference on Decision and Control, pp. 2398–2403. IEEE (1991)
5. Brockett, R.W.: Asymptotic stability and feedback stabilization. Differ. Geom. Control Theory 27(1), 181–191 (1983)