Browse wiki
From MurrayWiki
Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback |
Abstract |
This paper brings together results from a … This paper brings together results from a number of different areas in
control theory to provide an algorithm for the synthesis of locally
exponentially stabilizing control laws for a large class of driftless
nonlinear control systems. The exponential stabilization relies on the
use of feedbacks which render the closed loop vector field homogeneous
with respect to a dilation. These feedbacks are generated from a
modification of Pomet's algorithm for smooth feedbacks. Converse
Liapunov theorems for time-periodic homogeneous vector fields
guarantee that local exponential stability is maintained in the
presence of higher order (with respect to the dilation) perturbing
terms.
<p> the dilation) perturbing
terms.
<p> +
|
---|---|
Authors | Robert T. M'Closkey and Richard M. Murray + |
Flags | NoRequest + |
ID | 1994e + |
Source | Proceedings of the 32nd Conference on Decision and Control<br />December 1994 + |
Tag | mm94-cdc + |
Title | Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
|
15 May 2016 06:20:49 + |
URL This property is a special property in this wiki.
|
http://www.cds.caltech.edu/~murray/preprints/mm94-cdc.pdf + |
hide properties that link here |
Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback + | Title |
---|