Exponential Stabilization of Certain Configurations of the General N-Trailer SystemReport as inadecuate




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1 ICARE - Instrumentation, control and architecture of advanced robots CRISAM - Inria Sophia Antipolis - Méditerranée

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.

Keywords : HOMOGENEOUS FEEDBACK GENERAL N-TRAILER SYSTEM EXPONENTIAL STABILIZATION TIME-VARYING FEEDBACK





Author: David A. Lizárraga - Pascal Morin Claude Samson

Source: https://hal.archives-ouvertes.fr/



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