Abstract
This paper focuses on the problem of stabilization of a chained-form nonholonomic system. We propose a time-invariant discontinuous finite-time homogeneous controller for the chained system. The controller has no singular point where the control inputs become infinite values. Using the characteristics of the homogeneous system, we can select the convergence speed of the controlled system. Namely, we can choose an exponentially stable system or a finite-time stable system. We designed the controller for a 3-state chained system and confirmed the superior performance of the controlled system by computer simulations.
