Finite-time stabilisation for a class of output-constrained nonholonomic systems with its application

Fangzheng Gao, Yuqiang Wu, Hongsheng Li and Yanhong Liu

International Journal of Systems Science, 2018, vol. 49, issue 10, 2155-2169

Abstract: This paper studies the problem of finite-time stabilisation for a class of uncertain nonholonomic systems in chained form with output constraint. A nonlinear mapping is first introduced to transform the output-constrained system into a new unconstrained one. Then, by employing the adding a power integrator technique and switching control strategy, a state feedback controller is successfully constructed to render that the states of closed-loop system converge to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of finite-time parking a unicycle-type mobile robot is tackled. Simulation results are given to demonstrate the effectiveness of the proposed method.

Date: 2018
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DOI: 10.1080/00207721.2018.1494863

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