Stabilization of more general high-order nonholonomic systems within finite settling time

In this paper, the finite-time stabilization problem is investigated for a class of more general high-order nonholonomic systems with strong nonlinear drifts. By using finite-time Lyapunov stability theorem and adding a power integrator technique, a state feedback controller is obtained. Based on sw...

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Bibliographic Details
Main Authors: Fushun Yuan, Fangzheng Gao, Hejun Yao
Format: Conference Proceeding
Language:English
Subjects:
adding a power integrator
Closed loop systems
Control design
Convergence
finite time convergence
high-order nonholonomic systems
Lyapunov methods
Switches
switching control scheme
Upper bound
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Summary:In this paper, the finite-time stabilization problem is investigated for a class of more general high-order nonholonomic systems with strong nonlinear drifts. By using finite-time Lyapunov stability theorem and adding a power integrator technique, a state feedback controller is obtained. Based on switching strategy to overcome the uncontrollability problem associated with x 0 (0) = 0, the uncertain closed-loop system states are regulated to zero in a finite time. An illustrative example is provided to demonstrate the effectiveness of the proposed controller.
ISSN:1934-1768
2161-2927