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

被引：21

作者：

Gao, Fangzheng ^{[1
]}

Yuan, Fushun ^{[1
]}

Wu, Yuqiang ^{[2
]}

机构：

[1] Anyang Normal Univ, Sch Math & Stat, Anyang 455000, Peoples R China

[2] Qufu Normal Univ, Inst Automat, Qufu 273165, Peoples R China

来源：

ASIAN JOURNAL OF CONTROL | 2014年 / 16卷 / 06期

关键词：

Stochastic nonholonomic systems; nonlinearly parameterized; unknown control coefficients; backstepping; global asymptotic regulation in probability; STATE-FEEDBACK STABILIZATION; UNCERTAIN CHAINED SYSTEMS; OUTPUT-FEEDBACK; EXPONENTIAL STABILIZATION; ITERATIVE DESIGN; DELAY; STABILITY; GROWTH; DRIFTS; NOISE;

D O I：

10.1002/asjc.814

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 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.

引用

页码：1829 / 1838

页数：10

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