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Finite-time stabilization of stochastic nonholonomic systems and its application to mobile robot. (English) Zbl 1253.93087
Summary: We investigate the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with x 0 (0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.
MSC:
93C85Automated control systems (robots, etc.)
93D05Lyapunov and other classical stabilities of control systems