Robust finite-time stabilisation of an arbitrary-order nonholonomic system in chained form

• DOI: 10.1016/j.automatica.2021.109956
• Publication Date: 2021-10-14T12:01:22Z
• Authors: Emanuel Rocha; Fernando Castaños; Jaime A. Moreno
• Keywords: Nonholonomic system; Robustness

Abstract We present a robust finite-time stabilising algorithm for an arbitrary-order nonholonomic system in chained form. The state feedback is locally bounded, homogeneous and discontinuous. Its design follows from a generalised circle criterion based on the theory of homogeneous Lyapunov functions and a two-stage homogeneity-preserving strategy proposed by Nakamura.