Exponentially Convergent Control Laws for
Nonholonomic Systems in Power Form
This paper introduces a method for constructing exponentially
convergent control laws for
n-dimensional nonholonomic systems in power form.
The methodology is based on the construction of a series
of nested invariant manifolds for the closed-loop system under a linear
control law.
A recursive algorithm is presented which uses these manifolds to construct
a 3-dimensional system in power form.
It is shown that the feedback controller for the original system
is the one for this 3-dimensional system with proper choice of the
gains.
Full paper postscript version (510K).
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