Following a path of varying curvature as an output regulation problem
IEEE Transactions on Automatic Control, 47(9):1551-1556, 2002.
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