Finite-time stabilization of interconnected nonlinear systems

Abstract

This paper deals with the finite-time stability and stabilization problems of interconnected nonlinear systems. We consider that there exist a finite-time stable controller for each isolated system for which is added a control part that preserves the systems finite-time stability. Sufficient conditions for finite-time stability are achieved, and permit to extend the asymptotic stability results presented in the literature. The procedure can be applied for a large variety of autonomous nonlinear multi-system with and without drift terms. The finite-time stabilizing-tracking control of kinematically nonholonomic model of multiple wheeled mobile robots is presented and illustrated.