Output-feedback control strategies of lower-triangular nonlinear nonholonomic systems in any prescribed finite time

摘要

In this paper, output-feedback control strategies are proposed for lower-triangular nonlinear nonholonomic systems in any prescribed finite time. Specifically, by employing the input-state-scaling technique, the controlled systems are firstly converted into lower-triangular nonlinear systems, which makes it possible to study such systems using the high-gain technique. Then, by introducing a scaling of the state by a function that grows unbounded toward the terminal time and proposing a high-gain observer-prescribed finite time recovering the system states, the output-feedback regulation control problem in any prescribed finite time is firstly achieved for nonlinear nonholonomic systems with unknown constant incremental rate. Moreover, by designing another time-varying high gain, the output-feedback stabilization control problem in any prescribed finite time is then achieved for nonlinear nonholonomic systems with a time-varying incremental rate. Finally, a numerical example is introduced to show the effectiveness of proposed control strategies.