Finite-time stabilization of stochastic nonholonomic systems

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with x₀(0) = 0, global stochastic finite-time regulation of the closed-loop system states is achieved. An illustrative example is also provided to demonstrate the effectiveness of the proposed controller.