?url_ver=Z39.88-2004&rft_id=10.1049%2Fiet-cta.2010.0678&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Rubagotti%2C+Matteo&rft.aulast=Rubagotti&rft.aufirst=Matteo&rft.pages=1916+-1924&rft.issn=1751-8644&rft.atitle=Time-optimal+sliding-mode+control+of+a+mobile+robot+in+a+dynamic+environment&rft.title=IET+Control+Theory+and+Applications&rft.date=October+2011&rft.issue=16&rft.volume=5&rft.genre=article