Output feedback stabilization via nonlinear mapping for time-varying constrained nonholonomic systems in prescribed finite time

Abstract

This study considers fixed-time stabilization using output feedback for chained-form nonholonomic systems. Notably, the distinctive features of the study are that the system under consideration is adversely affected by time-varying output constraints, and the system states are driven to zero in the prescribed finite time. A time-varying version of the nonlinear mapping is recommended to address the output constraints. The construction of a novel switched time-varying observer that has the capability of estimating the immeasurable states in fixed time enables us to devise an output feedback controller. This controller guarantees the achievement of the performance requirements by employing switching control strategy. Finally, a benchmark example is given to acknowledge the efficacy of the proposed control scheme.