Discontinuous feedback stabilization of a class of nonholonomic systems based on Lyapunov control

@article{Urakubo2005DiscontinuousFS,
  title={Discontinuous feedback stabilization of a class of nonholonomic systems based on Lyapunov control},
  author={Takateru Urakubo},
  journal={Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.},
  year={2005},
  pages={91-96}
}
This paper deals with the problem of controlling a class of nonholonomic systems, first order systems. The first order systems are systems where the input vector fields and the first level of Lie brackets between them span the tangent space of the state space. We derive a discontinuous state feedback law for the systems by extending Lyapunov control. The input vector is constructed by multiplying the gradient vector of a Lyapunov function by a matrix which is composed of a negative definite… CONTINUE READING

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