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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.  +
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
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15 May 2016 06:20:34  +
URL
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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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