Stabilization of nonholonomic integrators via logic-based switching

This paper explains how to stabilize a "nonholonomic integrator" using a hy brid control law employing switching and logic. Results concerning asymptot ic stability and exponential convergence to the origin are derived. The not ion of a (positively) invariant set is extended to hybrid systems and suffi cient conditions for invariance are presented. The verification of these co nditions does not require the computation of the state trajectories and the ir use goes beyond the analysis of the system presented in this paper. (C) 1999 Elsevier Science Ltd. All rights reserved.