title: Finite-time stabilization for a class of nonholonomic feedforward systems subject to inputs saturation.
abstract: This paper studies the problem of finite-time stabilization by state feedback for a class of uncertain nonholonomic systems in feedforward-like form subject to inputs saturation. Under the weaker homogeneous condition on systems growth, a saturated finite-time control scheme is developed by exploiting the adding a power integrator method, the homogeneous domination approach and the nested saturation technique. Together with a novel switching control strategy, the designed saturated controller guarantees that the states of closed-loop system are regulated to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of saturated finite-time control for vertical wheel on rotating table is solved. Simulation results are given to demonstrate the effectiveness of the proposed method.
authors.affiliation: School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China; School of Automation, Southeast University, Nanjing 210096, China; Tandon School of Engineering, New York University, Brooklyn, NY11201, USA. Electronic address: gaofz@126.com.
authors.forename: Fangzheng
authors.initials: F
authors.lastname: Gao
authors.affiliation: Chongqing Technology and Business Institute, Chongqing Radio & TV University, Chongqing 400052, China.
authors.forename: Ye
authors.initials: Y
authors.lastname: Yuan
authors.affiliation: Institute of Automation, Qufu Normal University, Qufu 273165, China.
authors.forename: Yuqiang
authors.initials: Y
authors.lastname: Wu
keywords: Finite-time stabilization; Homogeneous domination approach; Inputs saturation; Nested saturation; Nonholonomic feedforward systems