Semi-global finite-time output feedback stabilization for a class of uncertain nonholonomic systems

In this paper, the problem of semi-global finite-time stabilization by output feedback is investigated for a class of nonholonomic systems in chained form with uncertainties. By using the homogeneous domination approach, a constructive controller design procedure for output feedback control is given. Together with a novel switching control strategy, the designed controller renders that the states of closed-loop system are semi-globally regulated to zero in a finite time. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot. The simulation results demonstrate the validity of the presented algorithm.