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Finite‐time output‐feedback stabilization of high‐order nonholonomic systems
Author(s) -
Xie XueJun,
Li GuangJu
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4516
Subject(s) - control theory (sociology) , nonholonomic system , integrator , lyapunov function , sign function , observer (physics) , output feedback , controller (irrigation) , function (biology) , mathematics , computer science , control (management) , nonlinear system , robot , mobile robot , physics , computer network , mathematical analysis , bandwidth (computing) , quantum mechanics , artificial intelligence , evolutionary biology , agronomy , biology
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.