Exponential Stabilization of Nonholonomic Systems by Means of Oscillating Controls

Exponential stabilization for nonlinear systems with applications to nonholonomic systems

The paper proposes a general framework to study the exponential stabilization problem for a class of nonlinear systems. By using the σ-processing, the exponential stabilization problem can be solved provided that all solutions of an augmented system are uniformly globally bounded. Based on this result, a simple and general stability criterion is presented. Two well-known nonholonomic systems ar...

Time-varying Exponential Stabilization of Nonholonomic Systems in Power Form

Nonholonomic Robot Stabilization by Vision{based Time{varying Controls

Docking or parallel parking maneuvers of mobile manipulators with nonholonomic constraints, guided by vision sensory data, are considered. This corresponds to the stabilization of a highly nonlinear system to a desired pose, for which time{varying state feedback controls are employed, using a vision{based approximation of the system's state. The vision data are provided by a camera carried by t...

Stabilization of Nonholonomic Systems Using Isospectral Flows

In this paper we derive and analyze a discontinuous stabilizing feedback for a Lie algebraic generalization of a class of kinematic nonholonomic systems introduced by Brockett. The algorithm involves discrete switching between isospectral and norm-decreasing ows. We include a rigorous analysis of the convergence. 1. Introduction. In this paper we present a stabilization algorithm for a Lie

A Lyapunov Approach to Exponential Stabilization of Nonholonomic Systems in Power Form

| In this note a continuous feedback control law with time-periodic terms is derived for the control of non-holonomic systems in power form. The control law is derived by Lyapunov design from a homogeneous Lyapunov function. Global asymptotic stability is shown by applying the principle of invariance for time-periodic systems. Exponential convergence follows since the vector elds are homogeneou...