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Homogeneous systems play important roles in nonlinear control theory. We proposed homogeneous eigenvalues, and provided sufficient conditions for asymptotic stability using homogeneous eigenvalue analysis in the previous papers. In this paper, we prove that there exists a homogeneous system which has uncountable infinite homogeneous eigenvalues. Moreover, we introduce the definition of the oscillation...
This paper focuses on the problem of global stabilization of a two-wheeled mobile robot. We propose a global exponentially stabilizing controller for a two-wheel mobile robot based on the discontinuous finite-time homogeneous controller for chained systems. Moreover, we demonstrate the effectiveness of proposed method through an experiment using a "Khepera 2" mobile robot
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