Stabilization of high order stochastic nonholonomic systems

This paper is concerned with the problem of finite-time output feedback stabilization for a class of high-order stochastic nonholonomic systems. A novel switching output feedback controller is constructed to guarantee that the solution of the high-order stochastic nonholonomic system is finite-time stable via the Lyapunov theory, homogeneous domination approach and backstepping design method. A systematic design algorithm is developed for the construction of the backstepping controller. Finally, a simulation example is given to illustrate the theoretical results.