Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control (Q1614355)

A class of smooth nonlinear control systems with two control inputs is considered. Introducing an assistant phase variable, it is shown that every control system of this class can be transformed into a linear time-varying control system by a time-varying state transformation (based on the concept of minimal dilation degree). Then a smooth time-varying feedback control law is proposed to ensure asymptotic exponential stability of the closed-loop system. Two illustrative examples are also presented.