Stabilization of stochastic nonholonomic systems

Abstract

In this work, we investigate the stabilization control design of nonholonomic stochastic system in strict-feedback form. Under the condition of all states being available for feedback, a state feedback controller was developed via the stochastic Lyapunov-like theorem and backstepping design technique. The controllers guarantee all states of the closed-loop system are bounded in probability, and largely asymptotically stable when the stochastic disturbances equal to zero at the equilibrium point of the open-loop system. Besides, the time-varying technique was introduced to avoid the uncontrollable state of chained system.