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

{{HTDB paper
| authors =  Richard M. Murray and Robert T. M'Closkey 
| title = Converting Smooth, Time-Varying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers 
| source = 1995 European Control Conference (Rome)
| year = 1995
| type = Conference paper
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/mm95-ecc.pdf
| abstract = 
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.
| flags = NoRequest
| tag = mm95-ecc
| id = 1995g
}}