ADAPTIVE STABILIZATION FOR A CLASS OF STOCHASTIC NONLINEARLY PARAMETERIZED NONHOLONOMIC SYSTEMS WITH UNKNOWN CONTROL COEFFICIENTS

This paper investigates the problem of adaptive state feedback stabilization for a class of stochastic nonlinearly parameterized nonholonomic systems in chained form with unknown control coefficients. By defining two new unknown parameters whose dynamic updating laws are properly chosen and also by skilfully using the parameter separation, input-state-scaling, and integrator backstepping techniques, an adaptive state feedback controller is successfully designed, which guarantees that the closed-loop system is asymptotically stabilized in probability. A simulation example is provided to illustrate the effectiveness of the proposed approach.