Exponentially Convergent Controllers for n-Dimensional
Nonholonomic Systems in Power Form
This paper introduces a new method for constructing exponentially convergent
control laws for
n-dimensional nonholonomic systems in power form.
The methodology is based on the construction of a series
of invariant manifolds for the closed-loop system under a linear
control law.
A recursive algorithm is presented to derive
a feedback controller which drives
the system exponentially to the origin.
A numerical example illustrates the proposed theoretical developments.
Full paper postscript version (173K).
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