Discontinuous feedback stabilization of nonholonomic systems in extended power form

Nonholonomic control systems in extended power form are studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed to the extended power form. A discontinuous time-invariant feedback controller is developed for the extended power form. This feedback controller provides global finite time stabilization. The controller can be interpreted as a hybrid system consisting of a high level discrete event supervisor and a family of low level feedback controllers. Implementation issues are addressed.<<ETX>>

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