title: Adaptive finite-time stabilization for a class of uncertain high order nonholonomic systems.
abstract: In this paper, the adaptive finite-time stabilization problem is investigated for a class of high order nonholonomic systems in power chained form with strong nonlinear drifts and nonlinear parameterization. By skillfully using finite-time stability theorem, parameter separation technique and adding a power integrator method, an adaptive state feedback controller is obtained. To overcome the obstacle that x-subsystem is uncontrollable when the control input u0=0, a novel switching control strategy is given. Based on this, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two illustrative examples are also provided to demonstrate the effectiveness of the proposed controller.
authors.affiliation: School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China. Electronic address: gaofz@126.com.
authors.forename: Fangzheng
authors.initials: F
authors.lastname: Gao
authors.affiliation: School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China.
authors.forename: Fushun
authors.initials: F
authors.lastname: Yuan
keywords: Adding a power integrator; Finite-time stabilization; High order nonholonomic systems; Nonlinear parameterization