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.


93D15 Stabilization of systems by feedback
93D21 Adaptive or robust stabilization
93C40 Adaptive control/observation systems
93C41 Control/observation systems with incomplete information
93C15 Control/observation systems governed by ordinary differential equations
93B40 Computational methods in systems theory (MSC2010)
34H05 Control problems involving ordinary differential equations
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