Adaptive stabilization for a class of stochastic nonholonomic systems with nonlinear parameterization

Abstract

In this paper, the adaptive stabilization problem is investigated for a class of stochastic nonholonomic systems in chained form with nonlinear parameterization. A parameter separation technique is introduced to transform the nonlinear parameterized nonholonomic system into a linear-like parameterized one. Then, using input-state-scaling and integrator backstepping techniques, an adaptive asymptotical control law is obtained. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller could ensure that the state of closed-loop system is globally asymptotically regulated to zero in probability.