Finite-Time Stabilization for a Class of Uncertain High-Order Nonholonomic Feedforward Systems via Output Feedback

摘要

In this paper, a novel output feedback control strategy is proposed to regulate a class of uncertain high-order nonholonomic feedforward systems. Based on adding a power integrator technique, by constructing the appropriate Lyapunov function and observer, we design an output-feedback controller to guarantee that all the states of the closed-loop system converge to origin in a finite time. An example is provided to illustrate the effectiveness of the proposed approach.