SIAM Journal on Control and Optimization, Volume 58, Issue 5, Page 2997-3018, January 2020.
This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of time-invariant continuous state feedback laws. This is the case of nonholonomic systems, an example being the “unicycle-like” mobile robot, or for underactuated mechanical systems, an example being the slider. Explicit time-varying feedback laws leading to small-time stabilization are constructed for these two control systems. The main tools are homogeneity, backstepping, and desingularization techniques.

中文翻译：

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均质级联系统的小时稳定及其在单轮脚踏车中的应用和滑块实例

SIAM控制与优化杂志，第58卷，第5期，第2997-3018页，2020年1月。
本文涉及某些类型的机械系统的小时间稳定性，这些技术无法通过时不变的连续状态反馈定律来稳定。这是非完整系统的情况，例如“单轮车状”移动机器人，或者用于欠驱动的机械系统，例如滑块。为这两个控制系统构造了导致时间稳定的显式时变反馈定律。主要工具是同质性，后推和去奇化技术。