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Published December 1993 | Published
Book Section - Chapter Open

Nonholonomic systems and exponential convergence: some analysis tools

Abstract

In this paper the authors make a contribution to the analysis of nonholonomic systems with exponential rates of convergence. A key idea is the use of control laws which render the closed loop system homogeneous with respect to a dilation. The analysis is applied to nonholonomic systems in power form and consists of two steps. The first step is a reduction to an invariant set and then the application of an averaging result. The averaging theorem is a stability result for C^0 homogeneous order zero vector fields.

Additional Information

© 1993 IEEE. Supported in part by AFOSR F49620-92J-0293. Supported in part by e pant from the Powell Foundation.

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