title: Finite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback.
abstract: This paper investigates the problem of finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. Comparing with the existing relevant literature, a distinguishing feature of the systems under investigation is that the x-subsystem is a feedforward-like rather than feedback-like system. This renders the existing control methods inapplicable to the control problems of the systems. A constructive design procedure for output feedback control is given. The designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two simulation examples are provided to illustrate the effectiveness of the proposed approach.
authors.affiliation: School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China; School of Automation, Southeast University, Nanjing 210096, China.
authors.forename: Fangzheng
authors.initials: F
authors.lastname: Gao
authors.affiliation: Institute of Automation, Qufu Normal University, Qufu 273165, China. Electronic address: wyq@qfnu.edu.cn.
authors.forename: Yuqiang
authors.initials: Y
authors.lastname: Wu
authors.affiliation: School of Automation, Southeast University, Nanjing 210096, China.
authors.forename: Zhongcai
authors.initials: Z
authors.lastname: Zhang
keywords: Feedforward-like form; Finite-time stabilization; Homogeneous domination approach; Nonholonomic systems; Output feedback