Abstract
A continuous feedback control law with a periodic time varying term for the control of a 3D system on chained form is derived. The control law is derived directly from a simple Lyapunov function, and global ρ-exponential stability is shown. The control law is applied to a typical example of nonholonomic systems, the unicycle. The feedback is continuous and differentiable everywhere away from the origin. Exponential convergence is illustrated with simulations.
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