Next:Hierarchical Set Point Control Up:Optimal Control Previous:Switching Control of Drift-Free

Guiding Function Approach to Stabilization of Nonholonomic Systems

H. Michalska

A new method is proposed for the design of piece-wise continuous stabilizing feedback for such systems. The method is based on introducing a set of guiding functions (which are not Lyapunov functions) which help in the computation of feedback.

Annual Report

Fri Nov 26 23:00:32 GMT 1999