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Abstract The main result of this paper is a theorem … The main result of this paper is a theorem that allows smooth, time-varying controllers which asymptotically stabilize a driftless nonlinear system to be converted to homogeneous, time-varying 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.  + Richard M. Murray and Robert T. M'Closkey  + NoRequest  + 1995g  + 1995 European Control Conference (Rome)  + mm95-ecc  + Conference paper  + Papers 15 May 2016 06:20:34  +

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