Further Result on Finite-Time Stabilization of Stochastic Nonholonomic Systems

Abstract EN

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

Compared with the existing literature, the stochastic nonholonomic systems under investigation have more uncertainties, such as the x0-subsystem contains stochastic disturbance.

This renders the existing finite-time control methods highly difficult to the control problem of the systems or even inapplicable.

In this paper, by extending adding a power integrator design method to a stochastic system and by skillfully constructing C2 Lyapunov function, a novel switching control strategy is proposed, which renders that the states of closed-loop system are almost surely regulated to zero in a finite time.

A simulation example is provided to demonstrate the effectiveness of the theoretical results.