Stabilization of a Class of Non-holonomic Systems by Means of Switching Control Laws

This paper deals with the stabilization problem for nonlinear systems: it provides a sufficient condition for the existence of a time-varying switching control scheme which globally asymptotically stabilizes the zero equilibrium. The sufficient condition is proven to hold for a class of nonholonomic systems and the corresponding switching control law is described in detail. © 2008 IEEE.