1. “Robust yaw damping of cars with front and rear wheel steering”, IEEE Conference on Decision and Control, Tucson, December 1992, pp. 2586–2590.
2. and , “Dynamic feedback linearization of nonholonomic wheeled mobile robots”, Proc. of the IEEE Conf. on Robotics and Automation, Nice 1992, pp. 2527–2532.
3. and , “Control of nonholonomic wheeled mobile robots by state feedback linearization, Internal Report UCL-Cesame 9333, also CAS 1993, submitted to the Int. Journal of Robotics Research.
4. Control and stabilization of nonholonomic dynamic systems
5. “Asymptotic stability and feedback stabilization”, in Differential Geometric Control Theory, and (Eds), Birkhauser, Boston, MA, 181–191 (1983).