Adaptive Finite Time Regulation of Non-holonomic Systems

In this paper, the global adaptive finite-time regulation problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy, which can remove the assumption that needs the uncertain parameters satisfying the known upper bound constraint in the paper Wang et al. (2009), is proposed for global adaptive finite-time regulation problem with the help of Lyapunov-based method. With the proposed control law, the states of uncertain closed-loop system under consideration are bounded and can converge to zero within finite time. An illustrative example is also given to show the effectiveness of the proposed controller.