Exponential stabilization of a car with n trailers

It is shown how a class of two-input nonholonomic systems can be converted into a chained form. This is used to convert a car with n trailers into a chained form. The position of the system is given by the location of the last trailer. A time-varying feedback control law for the stabilization of a chained form with exponential convergence to the origin is presented. A coordinate transformation and input feedback transformation is derived to obtain asymptotic stability with exponential convergence to any desired configuration, locally in the orientations of the trailers. Simulation results are presented for a car with three trailers.<
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