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

Baojian Du | Zendy; Fangzheng Gao | Zendy; Fushun Yuan | Zendy

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

Author(s) -

Baojian Du,

Fangzheng Gao,

Fushun Yuan

Publication year - 2013

Publication title -

abstract and applied analysis

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.228

H-Index - 56

eISSN - 1687-0409

pISSN - 1085-3375

DOI - 10.1155/2013/926971

Subject(s) - backstepping , nonholonomic system , constructive , control theory (sociology) , mathematics , class (philosophy) , controller (irrigation) , output feedback , homogeneous , zero (linguistics) , control (management) , computer science , robot , mobile robot , adaptive control , process (computing) , combinatorics , artificial intelligence , agronomy , biology , operating system , linguistics , philosophy

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 proposedapproach

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