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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