Finite-time stabilization of the high-order chained system

This research focuses on the problem of stabilization of high-order chained-form nonholonomic system. We propose a finite-time discontinuous controller for the chained system. The controller is derived by using a high-order homogeneous finite-time control technique and high-order sliding mode control approach. The proposed method has no feed-forward factors and no singular points where the controller inputs become infinite values. Moreover, we designed the controller for the simplest high-order chained system and confirmed the superior performance of the controlled system by computer simulation.