Abstract

In this paper, the problem of semi-global finitetime stabilization by output feedback is investigated for a class of nonholonomic systems in chained form with uncertainties. By using the homogeneous domination approach, a constructive controller 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 semi-globally regulated to zero in a finite time. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot. The simulation results demonstrate the validity of the presented algorithm.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.