On Hyperexponential Stabilization of Perturbed Unicycle Dynamics

ABSTRACT The problem of hyperexponential stabilization for a mobile robot is addressed by leveraging its kinematic model with external perturbations. To this end, a robust nonlinear control law is designed, and several state and time transformations are introduced, reformulating the system model to an interconnection of integrators. A novel fixed‐time stabilization strategy is developed for an uncertain double‐integrator system. The whole closed‐loop system's convergence rate is rigorously analyzed, demonstrating hyperexponential behavior. The obtained results are compared with existing analogues in numeric experiments.