Stabilization of a class of nonlinear systems through Lyapunov function decomposition (Q4351604)
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scientific article; zbMATH DE number 1053701
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| English | Stabilization of a class of nonlinear systems through Lyapunov function decomposition |
scientific article; zbMATH DE number 1053701 |
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Stabilization of a class of nonlinear systems through Lyapunov function decomposition (English)
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15 March 1998
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Lyapunov functions
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feedback stabilization
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nonholonomic systems
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guiding functions
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0.9465567
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0.9423766
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0.93011004
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0.9256412
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0.92367303
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0.92121637
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0.92090046
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The paper deals with feedback stabilization of nonholonomic systems of the form \[ \dot\xi= \sum^m_1 f_i(\xi)v_i, \] where \(f_i\) are linearly independent smooth vector fields in \(\mathbb{R}^n\). The authors introduce a set of pseudo-Lyapunov functions called guiding functions which allow to construct the feedback so that the sum of these Lyapunov functions decrease along the solution. Some applications in motion control are given.
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