摘要：This paper addresses the problem of finite-timestabilization by state feedback for a class of uncertain highordernonholonomic systens in feedforward-like form. Basedon the finite-time stability theorem, and by introducing signfunction and necessarily modifying the homogeneous dominationapproach, a constructive design procedure for statefeedback control is given. Together with a novel switchingcontrol strategy, the designed controller renders that the statesof the closed-loop system are regulated to zero in a finite time.A simulation example is provided to illustrate the effectivenessof the proposed approach.
关键词：high-order nonholonomic systems; timevarying;delays; state feedback; adding a power integrator;nonholonomic systems; global asymptotic stabilization
