Discontinuous feedback stabilization of nonholonomic systems in extended power form

Nonholonomic control systems in extended power form are studied. It is demonstrated that under appropriate assumptions Lagrange´s equations, including classical nonholonomic constraints, can be transformed to the extended power form. A discontinuous time-invariant feedback controller is developed for the extended power form. This feedback controller provides global finite time stabilization. The controller can be interpreted as a hybrid system consisting of a high level discrete event supervisor and a family of low level feedback controllers. Implementation issues are addressed