Finite‐time output‐feedback stabilization of high‐order nonholonomic systems

Summary This paper investigates the problem of finite‐time output‐feedback stabilization of a class of high‐order nonholonomic systems under weaker conditions on system powers and nonlinearities. By constructing the appropriate Lyapunov function and observer, skillfully combining generalized adding a power integrator technique, sign function, and homogeneous domination method, and successfully introducing a new mathematical method, an output‐feedback controller is constructed to guarantee that all the states of the closed‐loop system converge to origin in a finite time.