Details

Autor(en) / Beteiligte

• Loria, A.
• Panteley, E.
• Popovic, D.
• Teel, A.R.

Titel

An extension of Matrosov's theorem with application to stabilization of nonholonomic control systems

Ist Teil von

• Proceedings of the 41st IEEE Conference on Decision and Control, 2002, 2002, Vol.2, p.1528-1533 vol.2

Ort / Verlag

IEEE

Erscheinungsjahr

2002

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE Xplore

Beschreibungen/Notizen

• We present a result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle's invariance principle to the case of general nonlinear time-varying systems. We show the utility of our theorem by analyzing uniform asymptotic stability of the origin for nonholonomic: systems in closed loop with particular smooth time-varying feedbacks previously proposed in the literature.