Path-tracking for tractor-trailers with hitching of both the on-axle and the off-axle kind

Results relevant to path-tracking control for a tractor-2-trailers vehicle with one coupling joint ´on axle´ and the other ´off axle´, are developed. In the case of off axle hitchings with a negative offset, these results are based on input/output linearization and extend controller design procedures already available for vehicles of which the coupling joints are all ´on axle´ or all ´off axle´. In the case of off axle hitchings with a positive offset, exact linearization is no longer applicable and the problem is solved using Jacobian linearization. Convergence and robustness properties of the ensuing controllers are illustrated by means of simulation. Extension of these results to more general tractor-n-trailers vehicles is discussed.