Nguyen, Nhu Toan, et al. “Adaptive Asymmetric Time-Varying Integral Barrier Lyapunov Control-Based Trajectory Tracking of Autonomous Vehicles”. JST: Smart Systems and Devices, vol. 33, no. 2, May 2023, pp. 58-68, doi:10.51316/jst.166.ssad.2023.33.2.8.