time-varying exponential stabilization of nonholonomic ...entific research documents, whether they...

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HAL Id: inria-00074546 https://hal.inria.fr/inria-00074546v2 Submitted on 7 Aug 2006 HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci- entific research documents, whether they are pub- lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Time-varying exponential stabilization of nonholonomic systems in power form Jean-Baptiste Pomet, Claude Samson To cite this version: Jean-Baptiste Pomet, Claude Samson. Time-varying exponential stabilization of nonholonomic sys- tems in power form. [Research Report] RR-2126, INRIA. 1993. inria-00074546v2

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Page 1: Time-varying exponential stabilization of nonholonomic ...entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions

HAL Id: inria-00074546https://hal.inria.fr/inria-00074546v2

Submitted on 7 Aug 2006

HAL is a multi-disciplinary open accessarchive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come fromteaching and research institutions in France orabroad, or from public or private research centers.

L’archive ouverte pluridisciplinaire HAL, estdestinée au dépôt et à la diffusion de documentsscientifiques de niveau recherche, publiés ou non,émanant des établissements d’enseignement et derecherche français ou étrangers, des laboratoirespublics ou privés.

Time-varying exponential stabilization of nonholonomicsystems in power form

Jean-Baptiste Pomet, Claude Samson

To cite this version:Jean-Baptiste Pomet, Claude Samson. Time-varying exponential stabilization of nonholonomic sys-tems in power form. [Research Report] RR-2126, INRIA. 1993. �inria-00074546v2�

Page 2: Time-varying exponential stabilization of nonholonomic ...entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions

ISS

N 0

249-

6399

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

appor t de r ech er ch e

1 9 9 3

PROGRAMME 4

Robotique, image

et vision

Time-varying Exponential Stabilization ofNonholonomic Systems in Power Form

Jean-Baptiste POMET , Claude SAMSON

N˚ 2126Decembre 1993

Page 3: Time-varying exponential stabilization of nonholonomic ...entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions
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Telephone : (33) 93 65 77 77 – Telecopie : (33) 93 65 77 65

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Page 27: Time-varying exponential stabilization of nonholonomic ...entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions

Unite de recherche INRIA Lorraine, Technopole de Nancy-Brabois, Campus scientifique,615 rue de Jardin Botanique, BP 101, 54600 VILLERS LES NANCY

Unite de recherche INRIA Rennes, IRISA, Campus universitaire de Beaulieu, 35042 RENNES CedexUnite de recherche INRIA Rhone-Alpes, 46 avenue Felix Viallet, 38031 GRENOBLE Cedex 1

Unite de recherche INRIA Rocquencourt, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY CedexUnite de recherche INRIA Sophia-Antipolis, 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex

Editeur

INRIA, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY Cedex (France)

ISSN 0249-6399