Finite-time Stabilization of Nonholonomic Mobile Robots with Stochastic Forward Velocity ⋆

This paper investigates the problem of finite-time state feedback stabilization for nonholonomic mobile robot with stochastic disturbance in the forward velocity. First of all, an appropriate state/input transformation is introduced to convert the mentioned control model into stochastic nonholonomic system in chain form. Then, by using stochastic finite-time stability theorem and the method of adding a power integrator, a state feedback controller is obtained. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller can guarantee that the closed-loop system is globally finite-time regulated at origin in probability. A simulation example is finally provided to demonstrate the validness of the proposed approach.