Robust Adaptive Finite-Time Stabilization of Nonlinearly Parameterized Nonholonomic Systems

This paper investigates the problem of adaptive finite-time stabilization of nonlinearly parameterized nonholonomic systems. By skilly using the parameter separation, input-state-scaling, and adding a power integrator techniques, an adaptive state feedback controller is obtained. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller can guarantee that the system states globally finite-time converge to the origin, while other signals remain bounded. Simulation examples demonstrate the effectiveness and the robust features of the proposed approach.

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