Petrov, Plamen, and Ivan Kralov. “Path Following Control of Bi-Steerable Cars: A Lyapunov-Based Approach”. Proceedings of the Bulgarian Academy of Sciences 78, no. 3 (March 28, 2025): 428–440. Accessed October 28, 2026. https://www.proceedings.bas.bg/index.php/cr/article/view/729.