Adaptive Feedback Control of Stochastic Nonholonomic Systems with Uncertainties

Abstract

This paper deals with the adaptive control design of stochastic nonholonomic system with uncertainties. The state-input scaling technique, stochastic Lyapunov-like theorem and back-stepping approach are used to design the feedback controller. The controllers guarantee all states of the closed-loop system are largely asymptotically stable in probability, In order to make the state scaling effective, a new switching control strategy based on the output measurement of the first subsystem is employed.