Abstract
This paper proves that the accessibility rank condition on ℝn{0} is sufficient to guarantee the existence of a global smooth time-varying (but periodic) feedback stabilizer, for systems without drift. This implies a general result on the smooth stabilization of nonholonomic mechanical systems, which are generically not smoothly stabilizable using time-invariant feedback.
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Coron, J.M. Global asymptotic stabilization for controllable systems without drift. Math. Control Signal Systems 5, 295–312 (1992). https://doi.org/10.1007/BF01211563
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DOI: https://doi.org/10.1007/BF01211563