S. Haddout, Z. Chen, and M. A. Guennoun, “The Ackerman Steered Car Non-Holonomic Lagrangian Mechanics System: Mathematics Problem Treatment of the Geometrical Theory”, JVTSD, vol. 1, no. 4, pp. 319–331, Aug. 2026, doi: 10.5890/JVTSD.2017.12.003.