Boukattaya, M., T. Damak, and M. Jallouli. “A Fuzzy Backstepping Control of a Mobile Manipulator With Torque Limits Avoidance”. ECTI Transactions on Computer and Information Technology (ECTI-CIT), vol. 5, no. 2, Apr. 2016, pp. 127-33, doi:10.37936/ecti-cit.201152.54244.