Smooth exponential stabilization of nonholonomic systems via time-varying feedback

Abstract

The problem of global exponential stabilization of a class of nonholonomic systems via smooth time-varying control is addressed. It is shown that smooth aperiodic time-varying controls for globally exponentially stabilizing a nonholonomic system can be easily synthesized if the system is augmented with some auxiliary state(s). The proposed method proves to be effective for a wide class of nonholonomic systems including the chained form system, multiple chained form system, power form system, Brockett system (1983), etc. Simulation examples are introduced to demonstrate the effectiveness of the method.