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Zbl 0760.93067
Coron, Jean-Michel
Global asymptotic stabilization for controllable systems without drift. (English)
[J] Math. Control Signals Syst. 5, No.3, 295-312 (1992). ISSN 0932-4194; ISSN 1435-568X/e

Summary: This paper proves that the accessibility rank condition on $\bbfR\sp n\backslash\{0\}$ is sufficient to guarantee the existence of a global smooth time-varying (but periodic) feedback stabilizer, for systems without drift. This implies a general result on the smooth stabilization of nonholonomic mechanical systems, which are generically not smoothly stabilizable using time-invariant feedback.
MSC 2000:
*93D20 Asymptotic stability of control systems
93B05 Controllability

Keywords: time-varying feedback; smooth stabilization; nonholonomic mechanical systems

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