Jiménez-Rodríguez, EstebanSánchez-Torres, Juan D.Muñoz Vázquez, Aldo J.Defoort, MichaelLoukianov, Alexander2021-04-272021-04-272019-07E. Jiménez-Rodríguez, J. D. Sánchez-Torres, A. J. Muñoz-Vázquez, M. Defoort and A. Loukianov (2019). A Class of Predefined-Time Stabilizing Controllers for Nonholonomic Systems, 27th Mediterranean Conference on Control and Automation (MED), Akko, Israel, 2019, pp. 464-471, doi: 10.1109/MED.2019.8798494.978-1-7281-2804-7https://hdl.handle.net/11117/6570The design of a class of predefined-time stabilizing controller for a class uncertain nonholonomic systems in chained form is investigated in this paper. First, some modifications to the classical fixed-time algorithms for first and second order systems are introduced. These modified algorithms, which are developed under the concept of predefined-time stability, reduce the settling time overestimation drawback suffered by the classical fixed-time algorithm. Unlike current finite-time and fixed-time schemes, an upper bound of the settling time is easily tunable through a simple selection of the parameters of the controllers. Then, based on the developed first and second-order algorithms, a switching control strategy is designed to guarantee the predefined-time stability of the chained-form nonholonomic system. Finally, a simulation example is presented to show the effectiveness of the proposed method.engPredefined-Time StabilityNonholonomic SystemsMechanical Systemsinfo:eu-repo/semantics/article