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

摘要

In this paper, the problem of finite-time stabilization by output feedback is investigated for a class of high order nonholonomic systems in power chained form with uncertainties. By skilly using finite-time stability theorem and homogeneous domination approach, a constructive design procedure for output feedback control is given. Together with a novel switching control strategy, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.