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This paper presents a control design methodology for n-dimensional nonholonomic systems. The main idea is that, given a nonholonomic system subject to κ Pfaffian constraints, one can define a smooth, N-dimensional reference vector field F, which is nonsingular everywhere except for a submanifold containing the origin. The dimension N ≤ n of F depends on the structure of the constraint equations, which...
The estimation of the decay function (i.e. Keαt Φ) for time delay systems has been a long-standing problem. Most existing methods focus on dominant decay rate estimation based on either matrix measure/norm or Lyapunov function approaches and lead to conservative estimation. A new Lambert W function based approach for estimation of the decay function for time delay systems is presented. Using the proposed...
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