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Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots

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2 Author(s)
Morin, Pascal ; INRIA, Sophia-Antolis, France ; Samson, Claude

A characterization of the Lie algebra rank condition by transverse periodic functions is applied to feedback stabilization of a class of nonlinear systems. The approach is illustrated on controllable homogeneous driftless systems subjected to known additive perturbations. A generalized path tracking problem for mobile robots is then addressed, in connection with some aspects of the path planning problem

Published in:

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on  (Volume:3 )

Date of Conference:

2000