Abstract and Applied Analysis (Jan 2013)

Global Finite-Time Output Feedback Stabilization for a Class of Uncertain Nonholonomic Systems

  • Baojian Du,
  • Fangzheng Gao,
  • Fushun Yuan

DOI
https://doi.org/10.1155/2013/926971
Journal volume & issue
Vol. 2013

Abstract

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This paper investigates the problem of global finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. By using backstepping recursive technique and the homogeneous domination approach, a constructive 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 regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.