# Converting Smooth, Time-Varying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers

From Murray Wiki

Jump to navigationJump to search

###
Richard M. Murray and Robert T. M'Closkey

1995 European Control Conference (Rome)

The main result of this paper is a theorem that allows smooth, time-varying controllers which asymptotically stabilize a driftless nonlinear system to be converted to homogeneous, time-varying controllers which provide {\em exponential} stability. The resulting controllers are smooth everywhere except the origin and are easily computed given the original asymptotic stabilizer. We illustrate the result with experimental results on a simple mobile robot.

- Conference paper: http://www.cds.caltech.edu/~murray/preprints/mm95-ecc.pdf
- Project(s):