On exponential stabilization of nonholonomic systems with time-varying drift
Abstract
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin. Then the problem of exponential stabilization is treated by exploiting periodic time-varying feedback controls. An explicit parametrization of such controllers is proposed under a suitable non-resonance assumption. It is shown that these controllers ensure the exponential stability of the closed-loop system provided that the period is small enough. The proposed control design methodology is applied for the stabilization of an underwater vehicle model and a front-wheel drive car.
Keywords
Cite
@article{arxiv.1907.05694,
title = {On exponential stabilization of nonholonomic systems with time-varying drift},
author = {Victoria Grushkovskaya and Alexander Zuyev},
journal= {arXiv preprint arXiv:1907.05694},
year = {2020}
}
Comments
This is the author's version of the manuscript accepted for publication in the Proceedings of the Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems (MECHATRONICS & NOLCOS 2019)