Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances

This paper addresses the fixed-time stability analysis of a mobile unicycle-like system (UTMS) with chained shape dynamics (CFD) and subjected to unknown matched uncertainties. To achieve fixed-time stabilization of a nonholonomic (NS) system in CFD, an adaptive nonsingular fast terminal sliding mode control scheme (ANFTSMC) is proposed. To determine the upper bounds of the disturbances, only velocity and position measurements are required. In addition, the control rule uses the Lyapunov theory, which guarantees the stability of the closed-loop system. To emphasize/evaluate the efficacy of the proposed method, simulations are performed in different disturbance situations.