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Abstract and Applied Analysis
Volume 2013, Article ID 926971, 10 pages
Research Article

Global Finite-Time Output Feedback Stabilization for a Class of Uncertain Nonholonomic Systems

School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China

Received 7 August 2013; Accepted 3 November 2013

Academic Editor: Daoyi Xu

Copyright © 2013 Baojian Du et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the problem of global finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. By using backstepping recursive technique and the homogeneous domination approach, a constructive design procedure for output feedback control is given. Together with a novel switching control strategy, the designed controller renders 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.