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Exponential Stabilization of Driftless Nonlinear Control Systems via Timevarying, 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 timeperiodic 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  mm94cdc + 
Title  Exponential Stabilization of Driftless Nonlinear Control Systems via Timevarying, Homogeneous Feedback + 
Type  Conference paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:20:49 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/mm94cdc.pdf + 
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Exponential Stabilization of Driftless Nonlinear Control Systems via Timevarying, Homogeneous Feedback +  Title 
