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Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback
Abstract This paper brings together results from a …
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>
the dilation) perturbing terms. <p>  +
Authors Robert T. M'Closkey and Richard M. Murray  +
Flags NoRequest  +
ID 1994e  +
Source Proceedings of the 32nd Conference on Decision and Control<br />December 1994  +
Tag mm94-cdc  +
Title Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback +
Type Conference paper  +
Categories Papers
Modification date
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15 May 2016 06:20:49  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mm94-cdc.pdf  +
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Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback + Title
 

 

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