Recursive design of exponential stabilization laws for nonholonomic systems
The author reduces the systems in power form and chained form to a new canonical form by transformation of the state variable, and then presents a recursive design method for exponentially stabilizing nonholonomic systems based on the new canonical form. Compared with the existing recursive design method using the invariant manifold approach [see \textit{J. Luo} and \textit{P. Tsiotras}, Syst. Control Lett. 35, 87-95 (1998; Zbl 0909.93029)], the proposed method considerably simplifies the stability proof of closed-loop systems and the choice of controller parameters.
scientific article; zbMATH DE number 1584561