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Mathematics of Control, Signals and Systems

, Volume 5, Issue 3, pp 295–312 | Cite as

Global asymptotic stabilization for controllable systems without drift

  • Jean -Michel Coron
Article

Abstract

This paper proves that the accessibility rank condition on ℝ n {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.

Key words

Asymptotic stabilization Controllability Time-varying feedback 

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Copyright information

© Springer-Verlag New York Inc. 1992

Authors and Affiliations

  • Jean -Michel Coron
    • 1
  1. 1.Laboratoire d'Analyse NumériqueUniversité Paris-SudOrsayFrance

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