(:notitlegroup:) 

   @article{djapic2010,
    title     = {Command Filtered Backstepping Design in MOOS-IvP Helm Framework for Trajectory
                Tracking of {USVs}},
    author    = {Vladimir Djapic and Dula Nad},
    journal   = {American Control Conference (ACC), 2010},
    pages     = {5997--6003},
    year      = {2010}}