@article {Yoerger1985a,
	title = {{Robust trajectory control of underwater vehicles}},
	journal = {IEEE Journal of Oceanic Engineering},
	volume = {10},
	number = {4},
	year = {1985},
	pages = {462{\textendash}470},
	issn = {0364-9059},
	doi = {10.1109/JOE.1985.1145131},
	url = {http://dx.doi.org/10.1109/JOE.1985.1145131},
	author = {Yoerger, D R and Slotine, J E}
}
