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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2006, Vol. 7 Issue (10): 17-    DOI: 10.1631/jzus.2006.A1742
    
Stabilization of stochastic nonholonomic systems
KE Hai-sen, YE Xu-dong
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.

Key words： Time-varying technique      Nonholonomic      Backstepping      Stochastic     
Received: 17 October 2005     
CLC:  TP273  
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KE Hai-sen
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Cite this article:

KE Hai-sen, YE Xu-dong. Stabilization of stochastic nonholonomic systems. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2006, 7(10): 17-.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.2006.A1742     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2006/V7/I10/17

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