@article {, title = {Lyapunov Self-triggered Controller for Nonlinear Trajectory Tracking of Unicycle-type Robot}, journal = {International Journal of Control, Automation and Systems}, volume = {18}, year = {2020}, month = {02/2020}, pages = {1829-1838}, publisher = {Springer}, address = {EEUU}, issn = {2005-4092 }, doi = {10.1007/s12555-018-0576-x}, url = {http://www.springer.com/12555 }, author = {Carlos Santos Perez and Felipe Espinosa Zapata and Enrique Santiso Gomez and David Gualda Gomez} }