Finite-time state-feedback stabilisation of non-holonomic systems with low-order non-linearities

This study investigates the problem of finite-time stabilisation by state feedback for a class of non-holonomic systems in chained form with low-order non-linearities, to which the existing control methods are inapplicable. By introducing sign function and necessarily modifying the method of adding a power integrator, a state-feedback controller is successfully constructed. Together with a novel switching control strategy, the designed controller guarantees that the states of closed-loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.