# Trajectory Tracking Control of a Class of Underactuated Mechanical Systems with Nontriangular Normal Form Based on Block Backstepping Approach

> Research article (Journal of Intelligent & Robotic Systems, 2019) · cited 11× · AI/ML

**Wikidata**: [openalex:W2914114371](https://www.wikidata.org/wiki/openalex:W2914114371)  
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