A Lyapunov approach to exponential stabilization of nonholonomic systems in power form

In this paper a continuous feedback control law with time-periodic terms is derived for the control of nonholonomic systems in power form. The control law is derived by Lyapunov design from a homogeneous Lyapunov function. Global asymptotic stability is shown by applying the principle of invariance for time-periodic systems. Exponential convergence follows since the vector fields are homogeneous of degree zero.