Abstract
The contribution of this communication is twofold: firstly, we will present a theorem guaranteeing uniform global asymptotic stability of a class of stable nonlinear systems, known in the literature of nonholonomic systems, as "skew-symmetric"(the use of quotes"" is motivated by having one non-zero element in the main diagonal). Secondly, we extend previous results for the nonholonomic integrators to the case of systems with n > 3 states. Our smooth time-varying controllers are called δ-persistently exciting since they are based on a property which generalizes, for nonlinear functions of the state, the persistency of excitation concept originally defined in the context of systems identification for time functions.
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