%0 Journal Article %J IEEE Trans. Automatic Control 47 (2002) 1551-1556 %D 2002 %T Following a path of varying curvature as an output regulation problem %A Claudio Altafini %X Given a path of nonconstant curvature, local asymptotic stability can be proven for the general n trailer whenever the curvature can be considered as the output of an exogenous dynamical system. The controllers that provide convergence to zero of the tracking error chosen for the path-following problem are composed of a prefeedback that input-output linearizes the system, plus a linear controller. %B IEEE Trans. Automatic Control 47 (2002) 1551-1556 %I IEEE %G en_US %U http://hdl.handle.net/1963/3143 %1 1190 %2 Mathematics %3 Functional Analysis and Applications %$ Submitted by Andrea Wehrenfennig (andreaw@sissa.it) on 2008-10-20T11:01:46Z\\nNo. of bitstreams: 1\\nfollowing.pdf: 236416 bytes, checksum: c98dbcaee3416675cc45749d7af72bb6 (MD5) %R 10.1109/TAC.2002.802750