  We consider a kinematic model of a controlled car with two trailers by
assuming that each trailer is attached at some distance from the preceding axle
("off-hooked trailers"). For this model, we derive the transformation towards
privileged coordinates and present the corresponding nilpotent quasihomogeneous
approximate system. The components of this nilpotent approximation are written
explicitly in terms of mechanical parameters of the original system. The
constructed system does not satisfy the Brockett necessary stabilizability
condition, and the design of time-varying feedback controllers with oscillating
components is proposed. It is proved that these controllers ensure the
exponential convergence of solutions to the trivial equilibrium, and simulation
results are presented to illustrate the behavior of the closed-loop system.
