Finite‐time state‐feedback stabilisation of non‐holonomic systems with low‐order non‐linearities

This study investigates the problem of finite‐time stabilisation by state feedback for a class of non‐holonomic systems in chained form with low‐order non‐linearities, to which the existing control methods are inapplicable. By introducing sign function and necessarily modifying the method of adding a power integrator, a state‐feedback controller is successfully constructed. Together with a novel switching control strategy, the designed controller guarantees that the states of closed‐loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.