Semi-global finite-time stabilization of uncertain nonholonomic systems via output feedback

This paper investigates the problem of semi-global finite-time stabilization by output feedback for a class of nonholonomic systems with both high-order and low-order nonlinearities. By using the homogeneous domination approach, a constructive design procedure for output feedback control is given. Together with a switching control scheme, the designed controller renders that the states of a closed-loop system are semi-globally regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.