Finite-time stabilization for high-order nonholonomic systems with full state constraints

This paper studies the finite-time control problem for a class of high-order nonholonomic systems. A new smooth coupling controller is proposed to make the system states converge to zero in finite-time. In order to ensure the states constraints of the nonholonomic systems, a new adding a barrier power integrator technique is presented. The barrier function is integrated into the traditional adding a power integrator technique. Meanwhile, the proposed controller is singular-free and can produce smooth control signals. Finally, simulations verify the obtained results.