Prescribed-Time Stabilization of Nonholonomic Chained Systems with Asymmetric Output Constraints

In this paper, the problem of prescribed-time stabilization is studied for a class of uncertain nonholonomic systems (NSs) in chained form with with asymmetric output constraints. First, a tan-type Barrier Lyapunov Function (BLF) is exploited to handle the obstacle caused by the asymmetric output constraints. Then, by suitably introducing the time-varying function into the virtual (actual) controllers, a non-scaling design scheme for state feedback is developed to forces the states of the closed-loop system (CLS) to zero in any prescribed finite time without disobeying the constraints. Finally, the effectiveness of the proposed scheme is confirmed by simulation results.