Global Finite-Time Output Feedback Stabilization for a Class of Uncertain Nonholonomic Systems

Abstract EN

This paper investigates the problem of global finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties.

By using backstepping recursive technique and the homogeneous domination approach, a constructive design procedure for output feedback control is given.

Together with a novel switching control strategy, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time.

A simulation example is provided to illustrate the effectiveness of the proposed approach.