Adaptive finite-time stabilization for a class of uncertain high order nonholonomic systems

- This paper considers adaptive finite-time control problem of high order nonholonomic systems.
- The considered systems include both strong nonlinear drifts and nonlinear parameterization.
- By using adding a power integrator method, an adaptive state feedback controller is obtained.
- The proposed controller renders that the system states are regulated to zero in a finite time.

In this paper, the adaptive finite-time stabilization problem is investigated for a class of high order nonholonomic systems in power chained form with strong nonlinear drifts and nonlinear parameterization. By skillfully using finite-time stability theorem, parameter separation technique and adding a power integrator method, an adaptive state feedback controller is obtained. To overcome the obstacle that x-subsystem is uncontrollable when the control input u0=0, a novel switching control strategy is given. Based on this, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two illustrative examples are also provided to demonstrate the effectiveness of the proposed controller.