Following a path of varying curvature as an output regulation problem

Claudio Altafini

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 controller