Research ArticleFinite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback

- The finite-time output feedback stabilization problem of nonholonomic feedforward systems is studied for the first time.
- A novel switching strategy is introduced to overcome the obstacle that the discontinuous change of coordinates are inapplicable to the finite-time output feedback control of nonholonomic systems.
- By skillfully using the homogeneous domination approach, a systematic output feedback control design procedure is proposed to render the states of closed-loop system to zero in a finite time.
- The proposed scheme can be applied to the finite-time control of kinematic hopping robot.

This paper investigates the problem of finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. Comparing with the existing relevant literature, a distinguishing feature of the systems under investigation is that the x-subsystem is a feedforward-like rather than feedback-like system. This renders the existing control methods inapplicable to the control problems of the systems. A constructive design procedure for output feedback control is given. The designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two simulation examples are provided to illustrate the effectiveness of the proposed approach.