TY - JOUR T1 - Following a path of varying curvature as an output regulation problem JF - IEEE Trans. Automatic Control 47 (2002) 1551-1556 Y1 - 2002 A1 - Claudio Altafini AB - 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. PB - IEEE UR - http://hdl.handle.net/1963/3143 U1 - 1190 U2 - Mathematics U3 - Functional Analysis and Applications ER -