Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers

<table>A tractor towing <svg height="7.1374998" id="M168" style="vertical-align:-0.10033pt" version="1.1" viewbox="0 0 7.8874998 7.1374998" width="7.8874998" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.1375)">
<g transform="translate(72,-66.29)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑛</tspan>
</text>
</g>
</g>
</svg> trailer with off-axle hitching.</table>

Journal of Robotics

fig1

Figure 1

Figure 1: Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers 