Further Results on Adaptive State-feedback Stabilization for a Class of Stochastic Nonholonomic Systems with Time Delays

Abstract

This paper further studies the adaptive stabilization problem for a class of stochastic nonholonomic systems with time delays, unknown parameterization and control coefficients. By using input-state-scaling technique, backstepping recursive approach, and the parameter separation technique, we design an adaptive state-feedback controller under weaker conditions on the drift and diffusion terms. Then, by adopting the switching strategy to eliminate the phenomenon of uncontrollability, the proposed adaptive state-feedback controller can guarantee the states of the closed-loop system to be global boundedness in probability. Finally, the simulation result shows the effectiveness of the proposed scheme.