Abstract
Thepurpose of this paper is to study the stabilizability of a classof nonlinear control stochastic differential systems the deterministicpart of which reduces to the equations of a torque controlledrigid robot. In fact, we derive sufficient conditions for theexistence of stabilizing feedback laws which render the equilibriumsolution of the closed-loop system asymptotically stable in probability.
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Florchinger, P. Feedback Stabilization of a Torque Controlled Rigid Robot Corrupted by Noise. Dynamics and Control 10, 229–238 (2000). https://doi.org/10.1023/A:1008362711093
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DOI: https://doi.org/10.1023/A:1008362711093