Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions

We address the problem of practical stabilization of driftless nonlinear control systems with homogeneous vector fields. A general feedback design approach, based on the concept of transverse functions introduced by the authors (1999, 2000), is presented. This approach allows to achieve global stabilization of any neighborhood of the origin, possibly in the presence of additive-known or measured-perturbations acting on the system