View source for Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback

{{HTDB paper
| authors = Robert T. M'Closkey and Richard M. Murray 
| title =  Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback 
| source = Proceedings of the 32nd Conference on Decision and Control<br>December 1994
| year = 1994
| type = Conference paper
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/mm94-cdc.pdf
| abstract = 
This paper brings together results from a number of different areas in
control theory to provide an algorithm for the synthesis of locally
exponentially stabilizing control laws for a large class of driftless
nonlinear control systems. The exponential stabilization relies on the
use of feedbacks which render the closed loop vector field homogeneous
with respect to a dilation.  These feedbacks are generated from a
modification of Pomet's algorithm for smooth feedbacks.  Converse
Liapunov theorems for time-periodic homogeneous vector fields
guarantee that local exponential stability is maintained in the
presence of higher order (with respect to the dilation) perturbing
terms.
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| flags = NoRequest
| tag = mm94-cdc
| id = 1994e
}}