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Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

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  • Fangzheng Gao
  • Fushun Yuan

Abstract

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with , global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.

Suggested Citation

  • Fangzheng Gao & Fushun Yuan, 2012. "Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot," Abstract and Applied Analysis, Hindawi, vol. 2012, pages 1-18, October.
    • Handle: RePEc:hin:jnlaaa:361269
    DOI: 10.1155/2012/361269
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