00768nas a2200109   4500008004300000245007400043210006900117260000900186520040500195100002200600856003600622       2002                        en_Ud  00aFollowing a path of varying curvature as an output regulation problem0 aFollowing a path of varying curvature as an output regulation pr  bIEEE3 aGiven 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.1 aAltafini, Claudio  uhttp://hdl.handle.net/1963/3143