View source for Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers

{{HTDB paper
| authors =  Robert T. M'Closkey and Richard M. Murray 
| title = Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers
| source = 1994 Symposium on Robot Control (SYROCO)
| year = 1994
| type = Conference paper
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/mm94-syroco.pdf
| abstract = 
This paper describes an approach for extending (time-varying)
exponential stabilizers for nonholonomic systems from controllers which
command input velocity to controllers which command input torques.  Due
to the nondifferentiable nature of exponential stablizers, additional
structure is required in order to ensure that the extended controllers
generate continuous control actions.  In this paper we show how to
extend homogeneous controllers which use a nonstandard dilation adapted
to the problem.
| flags = NoRequest
| tag = mm94-syroco
| id = 1994a
}}