Browse wiki
From MurrayWiki
| 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. +
|
|---|---|
| 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.
|
15 May 2016 06:20:34 + |
| URL This property is a special property in this wiki.
|
http://www.cds.caltech.edu/~murray/preprints/mm95-ecc.pdf + |
| hide properties that link here |
| Converting Smooth, Time-Varying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers + | Title |
|---|
