Abstract
The control Lyapunov function (CLF) plays an important role in feedback control design. Nakamura et al. proposed the minimum method for designing CLFs on noncontractible manifolds. However, as yet, there are no methods of designing CLFs for nonholonomic systems on noncontractible manifolds. In this paper, we design such a CLF by combining a revived transformation and the minimum projection method. The effectiveness of this method is confirmed by computer simulation.
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