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Converting Smooth, Time-Varying, 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,
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. +
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Authors | Richard M. Murray and Robert T. M'Closkey + |
Flags | NoRequest + |
ID | 1995g + |
Source | 1995 European Control Conference (Rome) + |
Tag | mm95-ecc + |
Title | Converting Smooth, Time-Varying, 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.
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15 May 2016 06:20:34 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/mm95-ecc.pdf + |
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Converting Smooth, Time-Varying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers + | Title |
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