State-feedback stabilisation for stochastic non-holonomic systems with time-varying delays

Abstract

This study investigates the problem of state-feedback stabilisation for a class of stochastic non-holonomic systems in chained form with time-varying delays. By using input-state-scaling technique and backstepping recursive approach, and choosing an appropriate Lyapunov–Krasoviskii functional, a state-feedback controller is constructed. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller could ensure that the closed-loop system is globally asymptotically regulated at origin in probability. A simulation example is provided to illustrate the effectiveness of the proposed method.