Geodesic
Adaptive control of uncertain nonholonomic systems in finite time
Kybernetika, Tome 45 (2009) no. 5, pp. 809-824.

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In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller.
Classification : 34H05, 93B40, 93C15, 93C40, 93C41, 93D15, 93D21
Keywords: finite-time convergence; parameter uncertainty; adaptive control; nonholonomic systems 
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     author = {Wang, Jiankui and Zhang, Guoshan and Li, Hongyi},
     title = {Adaptive control of uncertain nonholonomic systems in finite time},
     journal = {Kybernetika},
     pages = {809--824},
     publisher = {mathdoc},
     volume = {45},
     number = {5},
     year = {2009},
     mrnumber = {2599114},
     zbl = {1190.93086},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2009__45_5_a8/}
}
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Wang, Jiankui; Zhang, Guoshan; Li, Hongyi. Adaptive control of uncertain nonholonomic systems in finite time. Kybernetika, Tome 45 (2009) no. 5, pp. 809-824. http://geodesic.mathdoc.fr/item/KYB_2009__45_5_a8/