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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:

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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