Prescribed-Time Stabilization of Switched Nonholonomic Systems with Asymmetric Constraints

The problem of prescribed-time stabilization (PTS) is addressed for a kind of nonholonomic systems (NSs) with switched chain structures and asymmetric output constraints. A tan-type Barrier Lyapunov Function (BLF) is exploited to handle the obstacle caused by the asymmetric output constraints. 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.