Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

Abstract EN

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form.

By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed.

Based on switching strategy to overcome the uncontrollability problem associated with x0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved.

The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances.

The simulation results demonstrate the validity of the presented algorithm.