Kybernetika 45 no. 5, 809-824, 2009

Adaptive Control of Uncertain Nonholonomic Systems in Finite Time

Jiankui Wang, Guoshan Zhang and Hongyi Li


In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller.


finite-time convergence, parameter uncertainty, adaptive control, nonholonomic systems


93D15, 93D21