Stabilization of a class of nonlinear systems through Lyapunov function decomposition

DOI10.1080/002071797224171MaRDI QIDQ4351604zbMATH OpenOpenAlexFDO

Authors Hannah Michalska, Fazal-ur Rehman

Publication date 15 March 1998

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/002071797224171

zbMATH Keywords

feedback stabilizationguiding functionsLyapunov functionsnonholonomic systems

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Lyapunov and storage functions (93D30)

Review text

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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