Partial stabilization of nonholonomic systems with application to multi-agent coordination

Abstract

In this paper, the problem of partial stabilization of nonlinear systems along a given trajectory is considered. This problem is treated within the framework of stability of a family of sets. Sufficient conditions for the asymptotic stability of a oneparameter family of sets using time-dependent control in the form of trigonometric polynomials are derived. The obtained results are applied to a model mechanical system.