Adaptive state feedback stabilization of more general stochastic high-order nonholonomic systems

被引：5
|
作者：
Li, Guang-Ju [1 ]
Xie, Xue-Jun [1 ]
机构：
[1] Qufu Normal Univ, Inst Automat, Qufu 273165, Shandong, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2018年 / 32卷 / 08期
基金：
中国国家自然科学基金;
关键词：
adaptive state feedback stabilization; global asymptotic stability; stochastic high-order nonholonomic systems; SIISS INVERSE DYNAMICS; NONLINEAR-SYSTEMS; OUTPUT-FEEDBACK; EXPONENTIAL STABILIZATION; TRACKING CONTROL; CHAINED SYSTEMS; PARAMETERIZATION; FRAMEWORK;
D O I：
10.1002/acs.2898
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates adaptive state feedback stabilization for a class of more general stochastic high-order nonholonomic systems. By constructing the appropriate Lyapunov function, skillfully combining parameter separation, sign function, and backstepping design methods, an adaptive state feedback controller is designed to eliminate the phenomenon of uncontrollability and guarantee global asymptotic stability in probability of the closed-loop system. Two simulation examples are used to demonstrate the effectiveness of this method.
引用
收藏
页码：1222 / 1242
页数：21
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