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

摘要

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 x 0 (0) = 0, 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.