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Zbl 1117.93004
Li, S.; Tian, Y.-P.
Finite-time stability of cascaded time-varying systems. (English)
[J] Int. J. Control 80, No. 4, 646-657 (2007). ISSN 0020-7179; ISSN 1366-5820/e

Summary: The uniform global finite-time stability is discussed for a cascaded time-varying system consisting of two uniformly finite-time stable subsystems. It is shown that a forward completeness condition is enough to ensure the uniform global finite-time stability of the system. For ease of reference, a particular result with a growth rate condition is also deduced. These stability results are applied to the tracking control problem of a non-holonomic wheeled mobile robot in kinematic model. Two tracking control laws are developed respectively for two different cases of the desired rotate velocity. Both control laws are continuous and can control the mobile robot to track the desired trajectory in finite time. Simulation results are provided to show the effectiveness of the method.

MSC 2000:: *93A13 Hierarchical systems
93C15 Control systems governed by ODE
93D99 Stability of control systems
93C85 Automated control systems

Keywords: uniform global stability; tracking control systems; mobile robots

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