A general model of nonlinear feedforward systems subject to nonholonomic constraints is introduced in this paper.
A weaker sufficient condition on characterizing the nonlinear growth of the nonholonomic systems for its saturated finite-time stabilization is derived.
A new systematic saturated state feedback control design procedure is proposed to solve the finite-time stabilization problem for all plants in the considered class.
An application example for vertical wheel on rotating table is modeled and solved by the proposed method.