Discontinuous Control of the Brockett Integrator

摘要

The problem of asymptotic stabilisation of the Brockett integrator has been addressed and solved in recent years with a variety of methods and approaches. In particular, several discontinuous control laws guaran- teeing exponential convergence in an open and dense set have been proposed. In this work we show that all such discontinuous controllers can be obtained as special cases of a more general class of controllers.