Adaptive output feedback control of stochastic nonholonomic systems with nonlinear parameterization

被引：94
作者：
Wang, Hui [1 ,2 ,3 ,4 ]
Zhu, Quanxin [1 ,2 ,3 ]
机构：
[1] Hunan Normal Univ, Coll Math & Stat, Key Lab HPC SIP MOE, Changsha 410081, Hunan, Peoples R China
[2] Nanjing Normal Univ, Sch Math Sci, Nanjing 210023, Jiangsu, Peoples R China
[3] Nanjing Normal Univ, Inst Finance & Stat, Nanjing 210023, Jiangsu, Peoples R China
[4] Nanjing Univ Informat Sci & Technol, Sch Math & Stat, Nanjing 210044, Jiangsu, Peoples R China
来源：
AUTOMATICA | 2018年 / 98卷
基金：
中国国家自然科学基金;
关键词：
Stochastic nonholonomic system; Globally asymptotic stability; Nonlinear parameterization; Adaptive control; Output-feedback; UNKNOWN CONTROL COEFFICIENTS; POWER CHAINED FORM; EXPONENTIAL STABILIZATION; TIME; STATE; DRIFTS; DESIGN; DELAYS;
D O I：
10.1016/j.automatica.2018.09.026
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of adaptive output-feedback control of nonlinearly parameterized stochastic nonholonomic systems is studied in this paper. Since many unknowns (e.g., unknown control coefficients and unknown nonlinear parameters in systems' nonlinearities) occur into systems, we utilize an adaptive control method, together with a parameter separation technique, to construct an adaptive output feedback controller to regulate the whole systems. During the design procedure, a new form of reduced-order K-filters is given to compensate the unmeasured states of the systems. A switching strategy is proposed explicitly to stabilize the entire systems in the control scheme. Finally, a bilinear model with stochastic disturbances is presented to demonstrate our theoretical results. (C) 2018 Elsevier Ltd. All rights reserved.
引用
收藏
页码：247 / 255
页数：9
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