 
Summary: Following a path of varying curvature as an output
regulation problem
Claudio Altani
SISSAISAS
International School for Advanced Studies
via Beirut 24, 34014 Trieste, Italy
altani@sissa.it
June 5, 2002
Abstract
Given a path of nonconstant curvature, local asymptotic stability can be proven
for the general ntrailer 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 inputoutput linearizes the system plus a linear controller.
Keywords: path following, wheeled vehicles, output regulation.
1 Introduction
In the several studies dealing with path following for wheeled vehicles, see for example
the papers [12, 13, 14] or the book chapters [4, 3, 9], convergence is usually proven
for paths of constant curvature. In fact, that represents the only case in which the
decoupling between lateral and longitudinal dynamics is exact for the original system
