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Global asymptotic stabilization for controllable systems without drift. (English) Zbl 0760.93067
Summary: This paper proves that the accessibility rank condition on \(\mathbb{R}^ n\backslash\{0\}\) is sufficient to guarantee the existence of a global smooth time-varying (but periodic) feedback stabilizer, for systems without drift. This implies a general result on the smooth stabilization of nonholonomic mechanical systems, which are generically not smoothly stabilizable using time-invariant feedback.

93D20 Asymptotic stability in control theory
93B05 Controllability
Full Text: DOI
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