Browse wiki

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>