Stabilization of more general high-order nonholonomic systems within finite settling time

In this paper, the finite-time stabilization problem is investigated for a class of more general high-order nonholonomic systems with strong nonlinear drifts. By using finite-time Lyapunov stability theorem and adding a power integrator technique, a state feedback controller is obtained. Based on switching strategy to overcome the uncontrollability problem associated with x₀(0) = 0, the uncertain closed-loop system states are regulated to zero in a finite time. An illustrative example is provided to demonstrate the effectiveness of the proposed controller.