Exponential stabilization of driftless nonlinear control systems using homogeneous feedback. (English) Zbl 0882.93066

The paper deals with exponential feedback stabilization of an affine driftless control system. It is proved that under suitable conditions, it is possible to construct a time-dependent stabilizing feedback homogeneous with respect to a dilation. The results are applied to the study of mobile robot.


93D15 Stabilization of systems by feedback
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