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Adaptive control of uncertain nonholonomic systems in finite time. (English) Zbl 1190.93086
Summary: 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.
MSC:
93D15Stabilization of systems by feedback
93D21Adaptive or robust stabilization
93C40Adaptive control systems
93C41Control problems with incomplete information
93C15Control systems governed by ODE
93B40Computational methods in systems theory
34H05ODE in connection with control problems