Fixed-Time Stabilization for a Class of Nonholonomic Systems With State Constraints

This paper addresses the problem of fixed-time stabilization of chained-form systems with state constraints. A nonlinear mapping is first introduced to transform the state-constrained system into a new system without state constraints. Then, by employing backstepping and switching control techniques, a state feedback controller is successfully constructed to guarantee that the states of the closed-loop system are regulated to zero for any given fixed time without violation of the constraints.