This paper presents some practical implementation aspects and results of a particular control law dedicated to Train-Like-Vehicles (TLV) for trajectory tracking purpose. The CEA`s demonstrator consists of two modules. It is a partial but representative mockup of a future 4-modules vehicle devoted to maintenance and intervention in nuclear plants, which is now on development within the frame of the Teleman/MESSINA project. The main principles of the control are first recalled; then the reference trajectory and its on line computation, and the robot`s reference configuration are investigated; tuning the control parameters and control saturation are studied. Experimental and successful results of a real implementation on a TLV mockup are given and discussed. 10 figs., 3 refs.