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Zbl 1003.93039
Tian, Yu-Ping; Li, Shihua
Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control. (English)
[J] Automatica 38, No.7, 1139-1146 (2002). ISSN 0005-1098

A class of smooth nonlinear control systems with two control inputs is considered. Introducing an assistant phase variable, it is shown that every control system of this class can be transformed into a linear time-varying control system by a time-varying state transformation (based on the concept of minimal dilation degree). Then a smooth time-varying feedback control law is proposed to ensure asymptotic exponential stability of the closed-loop system. Two illustrative examples are also presented.
[M.I.Krastanov (Sofia)]

MSC 2000:: *93D15 Stabilization of systems by feedback
93C10 Nonlinear control systems

Keywords: smooth time-varying feedback; exponential asymptotic stability

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