 
Summary: Some Properties of the General nTrailer
Claudio Altafini \Lambda
Optimization and Systems Theory
Royal Institute of Technology
SE10044, Stockholm, Sweden
email: altafini@math.kth.se
tel: +46 8 790 7507
fax: +46 8 225 320
July 19, 2000
Abstract
If some of the trailers of the socalled ntrailer system are connected via a kingpin
hitch, the kinematic model of the system is more complicated that in the standard case.
However, something can still be said about the structural properties of the system, like
controllability. The more complicated equations can be interpreted in terms of virtual
steering wheels placed on the offaxle joints with steering angle which is a nonlinear
feedback from the original configuration state. Quite remarkably, the extra singularities
of the system have an explanation in terms of these virtual steering wheels. This is
also sufficient to assert that the general ntrailer problem can be embedded into the
corresponding multisteering ntrailer system. The multichained form available for
this last system can be recovered also for the general ntrailer if we replace the extra
