%0 Journal Article 
%F lms01
%A Liz\'arraga, D.A.
%A Morin, P.
%A Samson, C.
%T Chained form approximation of a driftless system. {A}pplication to the exponential stabilization of the general {N}-trailer system
%J International Journal of Control
%V 74
%P 1612-1629
%D 2001