Smooth Time-Varying Exponential Stabilization of Nonholonomic Chained Systems

摘要

A smooth time varying control law is derived to stabilize nonholonomic chained systems. The proposed control law guarantees all the system states exponentially converge to the origin, and thus it is superior to the ones which stabilize the chained systems by either non smooth exponential or smooth asymptotical control laws. The proposed control law is used to stabilize a mobile robot.