Adaptive Stabilization for a Class of Stochastic Nonholonomic Systems with Nonlinear Parameterization

摘要：

In this paper, the adaptive stabilization problem is investigated for a class of stochastic nonholonomic systems in chained form with nonlinear parameterization. A parameter separation technique is introduced to transform the nonlinear parameterized nonholonomic system into a linear-like parameterized one. Then, using input-state-scaling and integrator backstepping techniques, an adaptive asymptotical control law is obtained. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller could ensure that the state of closed-loop system is globally asymptotically regulated to zero in probability.

关键词： Stochastic nonholonomic systems Nonlinear parameterization Input-state-scaling Backstepping

作者: Fangzheng Gao Fushun Yuan Hejun Yao

作者单位: School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 1389-1394

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）