Abstract
This paper describes a sufficient condition, based on a new definition of Lyapunov function for switched systems, for the existence of a time-varying switching control scheme which globally asymptotically stabilizes the zero equilibrium of a class of non-holonomic systems.
This work has been partially supported by the Italian Ministry of University and Research. D. Casagrande has been partially supported through a European Community Marie Curie Fellowship in the framework of the CTS, contract number: HPMT-CT-2001-00278. A. Astolfi is partially supported by the LEVERHULME TRUST.
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Casagrande, D., Astolfi, A., Parisini, T. (2007). Switching-Based Lyapunov Function and the Stabilization of a Class of Non-holonomic Systems. In: Bemporad, A., Bicchi, A., Buttazzo, G. (eds) Hybrid Systems: Computation and Control. HSCC 2007. Lecture Notes in Computer Science, vol 4416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71493-4_56
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DOI: https://doi.org/10.1007/978-3-540-71493-4_56
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