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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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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


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