Adaptive finite-time stabilization of nonholonomic systems with nonlinear parameterization

In this paper, adaptive finite-time control is presented for a class of uncertain nonholonomic systems in chained form with nonlinear parameterization. Using parameter separation, state scaling and backstepping, an adaptive finite-time control law is obtained in the form of continuous time-invariant feedback. Both Lyapunov stability and finite time convergence are guaranteed by appropriately choosing the design parameters. An adaptive control based switching strategy is used to overcome the uncontrollability problem associated with x₀(0) = 0. Simulation example demonstrates the effectiveness and the robust features of the proposed controller.