Further Results on Adaptive State-feedback Stabilization for a Class of Stochastic Nonholonomic Systems with Time Delays

Regular Paper Control Theory and Applications
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Abstract

This paper further studies the adaptive stabilization problem for a class of stochastic nonholonomic systems with time delays, unknown parameterization and control coefficients. By using input-state-scaling technique, backstepping recursive approach, and the parameter separation technique, we design an adaptive state-feedback controller under weaker conditions on the drift and diffusion terms. Then, by adopting the switching strategy to eliminate the phenomenon of uncontrollability, the proposed adaptive state-feedback controller can guarantee the states of the closed-loop system to be global boundedness in probability. Finally, the simulation result shows the effectiveness of the proposed scheme.

Keywords

Backstepping input-state-scaling stochastic nonholonomic systems time delays 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.College of Mathematics and StatisticsZaozhuang UniversityZaozhuangChina
  2. 2.School of AutomationNanjing University of Science and TechnologyNanjingChina
  3. 3.School of Electrical Engineering & AutomationJiangsu Normal UniversityXuzhouChina

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