Abstract:

Aimed at the finite time stabilization problem of a kind of nonholonomic system that is transformed into a chained form system, a finitetime stabilization controller is proposed based on switch control theory, and the parameter selected conditions of the controller are also given. According to the state of system, the proposed controller makes every state of the nonholonomic chained system convege from any unbalanced state to the balanced state after finite time through finite switch. Finally, the effectiveness of the finite time stabilization controller using the switch method is shown by a simulation test.