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**Discontinuous control of nonholonomic systems.**
*(English)*
Zbl 0877.93107

Summary: The problem of asymptotic convergence for a class of nonholonomic control systems via discontinuous control is addressed and solved from a new point of view. It is shown that control laws, which ensures asymptotic (exponential) convergence of the closed-loop system, can be easily designed if the system is described in proper coordinates. In such coordinates, the system is discontinuous. Hence, the problem of local asymptotic stabilization for a class of discontinuous nonholonomic control systems is dealt with and a general procedure to transform a continuous system into a discontinuous one is presented. Moreover, a general strategy to design discontinuous control laws, yielding asymptotic convergence, for a class of nonholonomic control systems is proposed. The enclosed simulation results show the effectiveness of the method.

### MSC:

93D15 | Stabilization of systems by feedback |

70F25 | Nonholonomic systems related to the dynamics of a system of particles |

Full Text:
DOI

### References:

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