Title :
A systematic design tool for asymptotic stabilization of driftless control affine systems
Author :
Moreau, Luc ; Aeyels, Dirk
Author_Institution :
SYSTeMS, Ghent Univ., Belgium
fDate :
6/21/1905 12:00:00 AM
Abstract :
We present a constructive stabilization algorithm for a particular class of driftless control affine systems. The algorithm makes systematic use of homogeneity, Lie brackets of vectorfields and Lie algebraic properties, and the resulting feedback laws are periodically time-varying
Keywords :
continuous time systems; feedback; stability; time-varying systems; Lie algebraic properties; Lie brackets; asymptotic stabilization; driftless control affine systems; homogeneity; systematic design tool; time-varying systems; vectorfields; Algorithm design and analysis; Control systems; Controllability; Convergence; Feedback; Frequency; Stability; Time varying systems;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.832898
