Predefined-time stabilisation of a class of nonholonomic systems

ABSTRACT

This paper deals with the predefined-time stabilisation problem for a class of uncertain chained-form nonholonomic systems. Based on a novel generalised Lyapunov-like characterisation of predefined-time stability, new predefined-time controllers are introduced for a class of first and second order systems with matched perturbations. Contrary to existing finite-time and fixed-time schemes, an upper bound of the settling time is an easily tuneable control parameter. Then, these results for first and second order systems are used to design a switching strategy, which guarantees the predefined-time stability of the closed-loop system. The switching time and the settling-time can be easily tuned according to the control parameters. A benchmark example is presented to show the effectiveness of the proposed method.

Keywords:

• Predefined-time stabilisation
• nonholonomic system
• Lyapunov methods
• chained-form dynamics

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

Aldo Jonathan acknowledgment Consejo Nacional de Ciencia y Tecnología (CONACYT – México) for the Project Cátedras 1086 ‘Ambientes Inteligentes’. Also, this work has been supported by the European Community, the Regional Delegation for Research and Technology, the Haut de France Region and the National Center for Scientific Research under the project ELSAT VUMOPE.