A New Approach to Adaptive Stabilization of Stochastic High-Order Nonholonomic Systems

Guangju Li,Kemei Zhang

doi:10.1155/2018/9169367

Abstract

This paper studies the problem of adaptive stabilization for a class of stochastic high-order nonholonomic systems. Under the weaker assumptions, by constructing the appropriate Lyapunov function and combining sign function technique, an adaptive state feedback controller is designed to guarantee global asymptotic stability in probability of the closed-loop system. The effectiveness of the controller is demonstrated by a mechanical system.

Highlights

Ever since the stochastic stability theory was established by [1, 2], the design and analysis of backstepping controller for stochastic nonlinear systems has achieved remarkable development in recent years; see [1, 3,4,5,6,7,8,9,10,11,12] and the references therein
This paper investigates adaptive state feedback stabilization for more general stochastic high-order nonholonomic systems
If pi is an even number or a ratio of odd integer and even integer, it is unclear whether the control strategy can be applied or not

Summary

Introduction

Ever since the stochastic stability theory was established by [1, 2], the design and analysis of backstepping controller for stochastic nonlinear systems has achieved remarkable development in recent years; see [1, 3,4,5,6,7,8,9,10,11,12] and the references therein. These papers do not consider stochastic nonholonomic systems.

Objectives

Methods

Conclusion