Exponentially convergent controllers for n-dimensional nonholonomic systems in power form

Introduces a method for constructing exponentially convergent control laws for n-dimensional nonholonomic systems in power form. The methodology is based on the construction of a series of invariant manifolds for the closed-loop system under a linear control law. A recursive algorithm is presented to derive a feedback controller which drives the system exponentially to the origin. A numerical example illustrates the proposed theoretical developments