A LYAPUNOV APPROACH TO EXPONENTIAL STABILIZATION OF NONHOLONOMIC SYSTEMS IN POWER FORM

Authors
GODHAVN JM EGELAND O
Citation
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
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
42
Issue
7
Year of publication
1997
Pages
1028 - 1032
Database
ISI
SICI code
0018-9286(1997)42:7<1028:ALATES>2.0.ZU;2-J
Abstract
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.