Jm. Godhavn et O. Egeland, A LYAPUNOV APPROACH TO EXPONENTIAL STABILIZATION OF NONHOLONOMIC SYSTEMS IN POWER FORM, IEEE transactions on automatic control, 42(7), 1997, pp. 1028-1032
Citations number
15
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
In this paper a continuous feedback control law with time-periodic ter
ms is derived for the control of nonholonomic systems in power form. T
he control law is derived by Lyapunov design from a homogeneous Lyapun
ov function. Global asymptotic stability is shown by applying the prin
ciple of invariance for time-periodic systems. Exponential convergence
follows since the vector fields are homogeneous of degree zero.