Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

被引：9
|
作者：
Gao, Fangzheng [1 ]
Yuan, Fushun [1 ]
机构：
[1] Anyang Normal Univ, Sch Math & Stat, Anyang 455002, Henan Province, Peoples R China
来源：
ABSTRACT AND APPLIED ANALYSIS | 2012年
关键词：
OUTPUT-FEEDBACK STABILIZATION; UNCERTAIN CHAINED SYSTEMS; STRONG NONLINEAR DRIFTS; EXPONENTIAL STABILIZATION; ADAPTIVE STABILIZATION; CONTROL DESIGN; STABILITY; STATE; FORM;
D O I：
10.1155/2012/361269
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with x(0)(0) = 0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.
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收藏
页数：18
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