Stability (learning theory)

Control engineering

Settling time

Mobile robot

Mathematics

Geodesy

Nonholonomic system

Machine learning

Engineering

Step response

Mathematical analysis

Benchmark (surveying)

Artificial intelligence

Geography

Control (management)

Class (philosophy)

Computer science

Control theory (sociology)

Upper and lower bounds

Robot

International Journal of Control

This paper deals with the predefined-time stabilisation problem for a class of uncertain chained-form nonholonomic systems. Based on a novel generalised Lyapunov-like characterisation of predefined-time stability, new predefined-time controllers are introduced for a class of first and second order systems with matched perturbations. Contrary to existing finite-time and fixed-time schemes, an upper bound of the settling time is an easily tuneable control parameter. Then, these results for first and second order systems are used to design a switching strategy, which guarantees the predefined-time stability of the closed-loop system. The switching time and the settling-time can be easily tuned according to the control parameters. A benchmark example is presented to show the effectiveness of the proposed method.

Predefined-time stabilisation of a class of nonholonomic systems