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Practical Stabilization of Driftless Homogeneous Systems Based on the Use of Transverse Periodic Functions

Abstract : We address the problem of practical stabilization of driftless nonlinear control systems with homogeneous vector fields. A general feedback design approach, based on the concept of transverse functions recently introduced by the authors, is presented. This approach allows to achieve global stabiliza- tion of any neighborhood of the origin, possibly in the presence of additive - known or measured - perturbations acting on the system.
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https://hal.inria.fr/inria-00072439
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Submitted on : Wednesday, May 24, 2006 - 9:57:57 AM
Last modification on : Saturday, January 27, 2018 - 1:31:35 AM
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  • HAL Id : inria-00072439, version 1

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Pascal Morin, Claude Samson. Practical Stabilization of Driftless Homogeneous Systems Based on the Use of Transverse Periodic Functions. RR-4184, INRIA. 2001. ⟨inria-00072439⟩

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