Smooth Time-Varying Exponential Stabilization of Nonholonomic Systems in the Vector Power Form
非完整向量幂式系统的光滑时变指数镇定(英文)

We consider the stabilization problem of nonholonomic systems in the vector power form. We show this class of systems can be transformed into linear time varying control systems by introducing an assistant state variable. Thus, asymptotic stability with exponential convergence is achieved by using a smooth time varying feedback control law. Besides the smoothness of the control law, the design procedure is very simple and the convergence rate of each state can be specified a priori. Simulation results show the efficiency of the method.