Global Exponential Stabilization of a 3D Nonholonomic Vehicle in Spherical Coordinates

arXiv:2609.24192 · math.OC, cs.SY, eess.SY · Submitted 2026-09-21 · Read on arXiv

math.OC, cs.SY, eess.SY

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Lyapunov function — 7× in this paper · explained in 2 episodes
• Closed-Loop System — 3× in this paper · explained in 4 episodes
• IEEE Conference on Decision and Control — 2× in this paper
• Steering — 2× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Nonholonomic Robot Parking by Feedback -- Part II: Nonmodular, Inverse Optimal, Adaptive, Prescribed/Fixed-Time and Safe Designs
• Nonholonomic Robot Parking by Feedback -- Part I: Modular Strict CLF Designs

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