Stabilization of More General High-Order Nonholonomic Systems within Finite Settling Time

摘要：

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 x0(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.

关键词： high-order nonholonomic systems adding a power integrator switching control scheme finite time convergence

作者: Fushun Yuan Fangzheng Gao Hejun Yao

作者单位: School of Mathematics and Statistics, Anyang Normal University, Anyang 455002, China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 756-761

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）