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Converting Smooth, TimeVarying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers 
Abstract 
The main result of this paper is a theorem … The main result of this paper is a theorem that allows smooth,
timevarying controllers which asymptotically stabilize a driftless
nonlinear system to be converted to homogeneous, timevarying
controllers which provide {\em exponential} stability. The resulting
controllers are smooth everywhere except the origin and are easily
computed given the original asymptotic stabilizer. We illustrate the
result with experimental results on a simple mobile robot. rimental results on a simple mobile robot. +


Authors  Richard M. Murray and Robert T. M'Closkey + 
Flags  NoRequest + 
ID  1995g + 
Source  1995 European Control Conference (Rome) + 
Tag  mm95ecc + 
Title  Converting Smooth, TimeVarying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers + 
Type  Conference paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:20:34 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/mm95ecc.pdf + 
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Converting Smooth, TimeVarying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers +  Title 
