Discontinuous control of nonholonomic systems using nondifferentiable Lyapunov functions

This research focuses on the problem of discontinuous controller design by using a non-differentiable Lyapunov function. We propose a new concept for a solution of the discontinuous system. We design a discontinuous controller for a nonholonomic system by using a non-differentiable Lyapunov function and analyze the stability of the controlled system by using the proposed solution. Moreover, we confirm the performance of the controlled system by computer simulation.