Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 9, Issue 10, Pages 1553-1560Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2014.1001
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Funding
- National Nature Science Foundation of China [61273091, 61403003]
- Project of Taishan Scholar of Shandong Province of China
- PhD Programmes Foundation of Ministry of Education of China
- Key Programme of Science Technology Research of Education Department of Henan Province [13A120016, 14A520003]
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This study investigates the problem of finite-time stabilisation by state feedback for a class of non-holonomic systems in chained form with low-order non-linearities, to which the existing control methods are inapplicable. By introducing sign function and necessarily modifying the method of adding a power integrator, a state-feedback controller is successfully constructed. Together with a novel switching control strategy, the designed controller guarantees that the states of closed-loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.
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