Exponential Stabilization of Certain Configurations of the General N-Trailer System

Abstract

We address the asymptotic stabilization of certain configurations for the general N-trailer system (i.e. for which the hitch point of each trailer need not lie on the preceding vehicle’s rear axle). In general, this system is not flat, so it cannot be transformed into the classical chained form. We show, however, that it can be approximated by the chained form system at certain configurations. Further, we deduce simple (time-varying) continuous feedbacks which locally exponentially stabilize these particular configurations.