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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
