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 ...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.展开更多
基金Project supported by the National Natural Science Foundation ofChina (No. 60474010) and the Research Fund for the Doctoral Pro-gram of Higher Education, China
文摘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.
