Finite-Time Stabilization of High Order Nonholonomic Systems in Power Chained Form

被引：0
作者：
Gao, Fangzheng [1 ]
Yuan, Fushun [1 ]
Yao, Hejun [1 ]
机构：
[1] Anyang Normal Univ, Sch Math & Stat, Anyang 455002, Henan Province, Peoples R China
来源：
2011 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6 | 2011年
关键词：
Nonholonomic systems; High order; Input-state-scaling; Adding a power integrator; Finite-time stability; STRONG NONLINEAR DRIFTS; OUTPUT-FEEDBACK; EXPONENTIAL STABILIZATION; ADAPTIVE STABILIZATION; STABILITY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a finite-time control strategy is presented for a class of high order nonholonomic systems in power chained form with strong nonlinear drifts. The robust control laws are developed by the use of input-state-scaling and adding a power integrator backstepping technique. Based on switching strategy to overcome the uncontrollability problem associated with x(0) (0) = 0, the solution of the resulting closed-loop system is globally finite-time regulated at origin.
引用
收藏
页码：1488 / 1492
页数：5
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