Title :
A Lyapunov approach to exponential stabilization of nonholonomic systems in power form
Author :
Godhavn, John-Morten ; Egeland, Olav
Author_Institution :
Dept. of Eng. Cybernetics, Norwegian Univ. of Sci. & Technol., Trondheim, Norway
fDate :
7/1/1997 12:00:00 AM
Abstract :
In this paper a continuous feedback control law with time-periodic terms is derived for the control of nonholonomic systems in power form. The control law is derived by Lyapunov design from a homogeneous Lyapunov function. Global asymptotic stability is shown by applying the principle of invariance for time-periodic systems. Exponential convergence follows since the vector fields are homogeneous of degree zero
Keywords :
Lyapunov methods; asymptotic stability; feedback; periodic control; time-varying systems; Lyapunov approach; Lyapunov design; continuous feedback control law; exponential convergence; exponential stabilization; global asymptotic stability; homogeneous Lyapunov function; invariance; nonholonomic systems; power form; time-periodic terms; Asymptotic stability; Control systems; Convergence; Equations; Feedback control; Kinematics; Lyapunov method; Mechanical systems; Power system modeling; Vehicles;
Journal_Title :
Automatic Control, IEEE Transactions on
