15th Triennial World Congress of the International Federation of Automatic Control
  Barcelona, 21–26 July 2002 
STABILIZATION OF NONHOLONOMIC SYSTEMS USING HOMOGENEOUS FINITE-TIME CONTROL TECHNIQUE
Hisakazu Nakamura* Yuh Yamashita* Hirokazu Nishitani*
* Graduate School of Information Science
Nara Institue of Science and Technology
Email: hisaka-n@is.aist-nara.ac.jp, yamas@is.aist-nara.ac.jp
nisitani@is.aist-nara.ac.jp

This research focuses on the problem of finite-time stabilization of chained-form nonholonomic systems using discontinuous homogeneous feedback and introduces the discontinuous homogeneous (with dilation) controller. The proposed controller has no singular point, stabilizes the system in finite-time, and is not complicated. Moreover, we demonstrate an exponentially stable controller.
Keywords: discontinuous control, nonlinear systems, stabilization, state feedback
Session slot T-Tu-E08: Stabilization III/Area code 2c : Non-linear Systems