DocumentCode
1308077
Title
A Lyapunov approach to exponential stabilization of nonholonomic systems in power form
Author
Godhavn, John-Morten ; Egeland, Olav
Author_Institution
Dept. of Eng. Cybernetics, Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Volume
42
Issue
7
fYear
1997
fDate
7/1/1997 12:00:00 AM
Firstpage
1028
Lastpage
1032
Abstract
In this paper a continuous feedback control law with time-periodic terms is derived for the control of nonholonomic systems in power form. The control law is derived by Lyapunov design from a homogeneous Lyapunov function. Global asymptotic stability is shown by applying the principle of invariance for time-periodic systems. Exponential convergence follows since the vector fields are homogeneous of degree zero
Keywords
Lyapunov methods; asymptotic stability; feedback; periodic control; time-varying systems; Lyapunov approach; Lyapunov design; continuous feedback control law; exponential convergence; exponential stabilization; global asymptotic stability; homogeneous Lyapunov function; invariance; nonholonomic systems; power form; time-periodic terms; Asymptotic stability; Control systems; Convergence; Equations; Feedback control; Kinematics; Lyapunov method; Mechanical systems; Power system modeling; Vehicles;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.599989
Filename
599989
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