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

页码：1488 / 1492

页数：5

共 21 条

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