...Kerai

J.-M. Coron, E.-Y. Kerai, ``Explicit feedbacks stabilizing the attitude of a rigid spacecraft with two control torques'', CMLA ENS-Cachan, rapport no. 9416, 1994.

...``homogène''

J.-B. Pomet, C. Samson, Time-varying exponential stabilization of nonholonomic systems in power form, rapport de recherche no. 2126, décembre 1993.