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

Abstract : We address the problem of asymptotic stabilization of certain configurations for the general N-trailer system (i.e. for which the hitching point of each trailer is not necessarily located on the rear axle of the preceding vehicle). In general, this system is not flat and, therefore, cannot be transformed into the classical chained form system. However, we show that it can be {\em approximated}, at some configurations, by the chained form system. This allows us to deduce simple time-varying continuous feedbacks which ensure local exponential stability of these particular configurations.
Type de document :
Rapport
RR-3412, INRIA. 1998
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Soumis le : mercredi 24 mai 2006 - 12:25:31
Dernière modification le : samedi 27 janvier 2018 - 01:31:31
Document(s) archivé(s) le : dimanche 4 avril 2010 - 23:40:58

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David A. Lizárraga, Pascal Morin, Claude Samson. Exponential Stabilization of Certain Configurations of the General N-Trailer System. RR-3412, INRIA. 1998. 〈inria-00073278〉

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