Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach

Inspired by the fully actuated system (FAS) approach, a finite-time substabilization controller is proposed for a class of chained nonholonomic systems with time-delay in this paper. Different from the existing results, the finite-time substabilization controller can make all the states of the system from the region of finite-time attraction converge to the origin in a finite time by entrusting some nonlinear dynamics characteristics to the closed loop system, what is called the function permitting finite-time stability. The effectiveness of the method is verified by analysis and simulation.