Conversion of the kinematics of a car with n trailers into a chained form

The authors propose a set of coordinates for the kinematics model of a car with n trailers with only two degrees of freedom. The absolute position of the system is given by the location of the rear trailer. By using these coordinates, the kinematic model is locally converted into a nilpotent, chained form. Control strategies for chained systems can be applied to locally control a car with n trailers.<>