Adaptive stabilization of stochastic nonholonomic systems with uncertain parameters and time-varying coefficients

Abstract

This paper investigates the adaptive state-feedback stabilization of stochastic nonholonomic systems which have both uncertain parameters and time-varying coefficients. The state-scaling and backstepping techniques are exploited in the design of controllers. The adaptive state-feedback stabilizing controllers and switching control strategy are proposed so that the closed-loop system can be stabilized in probability. In the end, two simulation examples are provided to illustrate effectiveness of controllers.