= (3u1A new set of coordinates is proposed for the kinematic model of a car with n trailers with only two degrees of freedom. In this paper, the absolute position of the system is given by the location of the rear trailer. B y using these coordinates, the kinematic model is locally converted into a nilpotent, chained form. Control strategies for chained systems can, therefore, be applied to locally control a car with n trailers.
This paper presents an exponentially stable controller for a two degrees of freedom robot with nonholonomic constraznts. Although this type of system is open loop controllable, this system has been shown to be nonstabilizable via pure smooth feedback [2], 171. I n this paper, a particular class of piecewise continuous controllers is shown to stabilize the system exponentially. This controller has the feature that it does not require infinitely fast switching, as required, for example, by sliding controllers.
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