next up previous contents
Next: Hierarchical Set Point Control Up: Systems and Control Theory 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.



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997