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In this paper, a finite-time control strategy is presented for a class of high order nonholonomic systems in power chained form with strong nonlinear drifts. The robust control laws are developed by the use of input-state-scaling and adding a power integrator backstepping technique. Based on switching strategy to overcome the uncontrollability problem associated with x0(0) = 0, the solution of the resulting closed-loop system is globally finite-time regulated at origin.
Control and Decision Conference (CCDC), 2011 Chinese
Date of Conference: 23-25 May 2011