Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach

Xue Zhang; Guangren Duan

doi:10.1109/FASTA65681.2025.11138270

Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach

Xue Zhang
, Guangren Duan

School of Astronautics

Harbin Institute of Technology
Southern University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Inspired by the fully actuated system (FAS) approach, a finite-time substabilization controller is proposed for a class of chained nonholonomic systems with time-delay in this paper. Different from the existing results, the finite-time substabilization controller can make all the states of the system from the region of finite-time attraction converge to the origin in a finite time by entrusting some nonlinear dynamics characteristics to the closed loop system, what is called the function permitting finite-time stability. The effectiveness of the method is verified by analysis and simulation.

Original language	English
Title of host publication	Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1718-1722
Number of pages	5
ISBN (Electronic)	9798331526924
DOIs	https://doi.org/10.1109/FASTA65681.2025.11138270
State	Published - 2025
Event	4th Conference on Fully Actuated System Theory and Applications, FASTA 2025 - Nanjing, China Duration: 4 Jul 2025 → 6 Jul 2025

Publication series

Name	Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025

Conference

Conference	4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
Country/Territory	China
City	Nanjing
Period	4/07/25 → 6/07/25

Keywords

Finite-time Substabilization
Fully Actuated System Approach
Nonholonomic System

Access to Document

10.1109/FASTA65681.2025.11138270

Cite this

Zhang, X., & Duan, G. (2025). Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach. In Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025 (pp. 1718-1722). (Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FASTA65681.2025.11138270

Zhang, Xue ; Duan, Guangren. / Finite-Time Substabilization for Nonholonomic Systems with Time Delay : A Fully Actuated System Approach. Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 1718-1722 (Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025).

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title = "Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach",

abstract = "Inspired by the fully actuated system (FAS) approach, a finite-time substabilization controller is proposed for a class of chained nonholonomic systems with time-delay in this paper. Different from the existing results, the finite-time substabilization controller can make all the states of the system from the region of finite-time attraction converge to the origin in a finite time by entrusting some nonlinear dynamics characteristics to the closed loop system, what is called the function permitting finite-time stability. The effectiveness of the method is verified by analysis and simulation.",

keywords = "Finite-time Substabilization, Fully Actuated System Approach, Nonholonomic System",

author = "Xue Zhang and Guangren Duan",

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year = "2025",

doi = "10.1109/FASTA65681.2025.11138270",

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series = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Zhang, X & Duan, G 2025, Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach. in Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025. Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025, Institute of Electrical and Electronics Engineers Inc., pp. 1718-1722, 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025, Nanjing, China, 4/07/25. https://doi.org/10.1109/FASTA65681.2025.11138270

Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach. / Zhang, Xue; Duan, Guangren.
Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025. Institute of Electrical and Electronics Engineers Inc., 2025. p. 1718-1722 (Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Finite-Time Substabilization for Nonholonomic Systems with Time Delay

T2 - 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025

AU - Zhang, Xue

AU - Duan, Guangren

PY - 2025

Y1 - 2025

N2 - Inspired by the fully actuated system (FAS) approach, a finite-time substabilization controller is proposed for a class of chained nonholonomic systems with time-delay in this paper. Different from the existing results, the finite-time substabilization controller can make all the states of the system from the region of finite-time attraction converge to the origin in a finite time by entrusting some nonlinear dynamics characteristics to the closed loop system, what is called the function permitting finite-time stability. The effectiveness of the method is verified by analysis and simulation.

AB - Inspired by the fully actuated system (FAS) approach, a finite-time substabilization controller is proposed for a class of chained nonholonomic systems with time-delay in this paper. Different from the existing results, the finite-time substabilization controller can make all the states of the system from the region of finite-time attraction converge to the origin in a finite time by entrusting some nonlinear dynamics characteristics to the closed loop system, what is called the function permitting finite-time stability. The effectiveness of the method is verified by analysis and simulation.

KW - Finite-time Substabilization

KW - Fully Actuated System Approach

KW - Nonholonomic System

UR - https://www.scopus.com/pages/publications/105017698118

U2 - 10.1109/FASTA65681.2025.11138270

DO - 10.1109/FASTA65681.2025.11138270

M3 - 会议稿件

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T3 - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025

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BT - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 4 July 2025 through 6 July 2025

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Zhang X, Duan G. Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach. In Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 1718-1722. (Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025). doi: 10.1109/FASTA65681.2025.11138270

Finite-Time Substabilization for Nonholonomic Systems with Time Delay: A Fully Actuated System Approach

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