| Stabilization of stochastic nonholonomic systems |
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| 作者姓名： | KE Hai-sen YE Xu-dong |
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| 作者单位： | Department of Electrical Engineering，Zhejiang University，Hangzhou 310027，China |
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| 基金项目： | Project supported by the National Natural Science Foundation ofChina (No. 60474010) and the Research Fund for the Doctoral Pro-gram of Higher Education, China |
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| 摘 要： | INTRODUCTION In recent years, much progress has been made in the design of control laws for systems subjected to nonholonomic constraint making it impossible to stabilize the system by any time-invariant continuous state feedback control law. This fact stimulates re- searchers to construct time-varying (Jiang and Ni- jmeijer, 1999; Jiang, 2001; Samson, 1995; Tian and Li, 2002) or discontinuous (Chang and Chen, 2002; Ge et al., 2003; Hu et al., 2004; Kim and Tsiotras, 2002; Mnif, 2004;…
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| 关 键 词： | 时变技术 不完整 后退算法 随机系统 稳定性 |
| 收稿时间： | 2005-10-17 |
| 修稿时间： | 2006-05-18 |
Stabilization of stochastic nonholonomic systems |
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| KE Hai-sen YE Xu-dong.Stabilization of stochastic nonholonomic systems[J].Journal of Zhejiang University Science,2006,7(10):1742-1747. |
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| Authors: | Hai-sen Ke Xu-dong Ye |
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| Institution: | (1) Department of Electrical Engineering, Zhejiang University, Hangzhou, 310027, China |
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| Abstract: | In this work, we investigate the stabilization control design of nonholonomic stochastic system in strict-feedback form. Under the condition of all states being available for feedback, a state feedback controller was developed via the stochastic Lyapunov-like theorem and backstepping design technique. The controllers guarantee all states of the closed-loop system are bounded in probability, and largely asymptotically stable when the stochastic disturbances equal to zero at the equilibrium point of the open-loop system. Besides, the time-varying technique was introduced to avoid the uncontrollable state of chained system. |
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| Keywords: | Time-varying technique Nonholonomic Backstepping Stochastic |
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