Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots

A characterization of the Lie algebra rank condition by transverse periodic functions is applied to feedback stabilization of a class of nonlinear systems. The approach is illustrated on controllable homogeneous driftless systems subjected to known additive perturbations. A generalized path tracking problem for mobile robots is then addressed, in connection with some aspects of the path planning problem.

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