Paper Info
Title
Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
Abstract
This paper focuses on the problem of exponential stabilization of controllable, driftless systems using time-varying, homogeneous feedback. The analysis is performed with respect to a homogeneous norm in a nonstandard dilation that is compatible with the algebraic structure of the control Lie algebra. It can be shown that any continuous, time-varying controller that achieves exponential stability relative to the Euclidean norm is necessarily non-Lipschitz. Despite these restrictions, we provide a set of constructive, sufficient conditions for extending smooth, asymptotic stabilizers to homogeneous, exponential stabilizers. The modified feedbacks are everywhere continuous, smooth away from the origin, and can be extended to a large class of systems with torque inputs. The feedback laws are applied to an experimental mobile robot and show significant improvement in convergence rate over smooth stabilizers.
Year
DOI
Venue
1997
10.1109/9.580865
IEEE Transactions on Automatic Control
Keywords
DocType
Volume
Nonlinear control systems,Feedback,Control systems,Time varying systems,Performance analysis,Algebra,Stability,Sufficient conditions,Torque,Mobile robots
Journal
42
Issue
ISSN
Citations 
5
0018-9286
142
PageRank 
References 
Authors
25.75
9
2
Search Limit
100142
Name
Order
Citations
PageRank
Robert T. M'Closkey121646.38
Richard M. Murray2123221223.70