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Keywords:
finite-time convergence; parameter uncertainty; adaptive control; nonholonomic systems
finite-time convergence; parameter uncertainty; adaptive control; nonholonomic systems
Summary:
In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller.
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