Global Finite-time Stabilization for a Class of Nonholonomic Chained System with Input Saturation

摘要

In this paper, for the first time, the finite-time stabilization problem is addressed for the "3 inputs, 2 chains, 1 generator" nonholonomic chained system with input saturation. A saturated controller is presented by applying the three-step switching control strategy and the theory of finite-time stability, the global stability of the closed-loop system is proved by the Lyapunov stability theory. Finally, the simulation examples demonstrate the correctness and the validity of the proposed controller.