Finite-time tracking controller design for a general class of nonholonomic systems

A design scheme of the finite-time tracking controller is given for a general class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface systems, etc. By introducing a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into a linear time-varying control systems. The combination of the switching technique and the terminal sliding mode control scheme with finite-time convergence result in the accurately track for the reference model in finite time under two control laws. Finally, the proposed method is applied to the finite-time tracking control of nonholonomic systems.