?url_ver=Z39.88-2004&rft_id=10.1049%2Fiet-cta%3A20070424&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Ferrara&rft.aufirst=Antonella&rft.au=Ferrara%2C+Antonella&rft.date=September+2008&rft.title=IET+Control+Theory+and+Applications+&rft.atitle=Second-order+sliding-mode+control+of+a+mobile+robot+based+on+a+harmonic+potential+field&rft.issue=9&rft.pages=807+-818&rft.volume=2&rft.issn=1751-8644&rft.genre=article