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

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