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In this paper, models are expressed with respect to the curvilinear abscissa covered by the robot, so that control performances are henceforth described as settling distances and are independent from robot velocity. Furthermore, this paper proposes an anticipation layer to improve the robustness of the path tracking with respect to actuator delays and the rear steering law has been modified to avoid lock-up situations occurring when a saturation is present at the front steering angle. 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