Semi-global minimal time hybrid robust stabilization of analytic driftless control-affine systems

We investigate the problem of semi-global minimal time robust stabilization of analytic driftless control-affine systems, by means of a hybrid state feedback law. Our main result is that, in the absence of singular minimal time solutions, the solutions of the closed-loop system converge to the origin in quasi-minimal time (for a given bound on the controller) with a robustness property with respect to small measurement noise and external disturbances.