%0 Journal Article 
%F mps99-sjco
%A Morin, P.
%A Pomet, J.-B.
%A Samson, C.
%T Design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed-loop
%J SIAM Journal on Control and Optimization
%V 38
%P 22-49
%D 1999