Finite-time stability of a class of nonlinear cascaded systems with time-varying output constraints

The finite-time stabilization problem of a class of cascaded systems with time-varying output constraints is investigated in this paper. The system consists of input-to-state stable inverse dynamics and a nonholonomic system. The technology of changing the supply rate eliminates dynamic uncertainty. A new tan-type barrier Lyapunov function is utilized to handle time- varying output constraints. Under the unified framework of constrained and unconstrained systems, combined with the addition of power integrator technology and switch control strategy, a state feedback control strategy is proposed to ensure that the state of the closed-loop system converges to zero in a finite-time and always satisfies time-varying output constraints. Finally, simulation results verify the proposed control scheme's effectiveness.