A Lyapunov Approach to Exponential Stabilization of Nonholonomic Systems in Power Form
نویسنده
چکیده
| 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 homogeneous of degree zero.
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