Adaptive Exponential Stabilization for a Class of Stochastic Nonholonomic Systems | Zendy

Xiaoyan Qin | Zendy

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Adaptive Exponential Stabilization for a Class of Stochastic Nonholonomic Systems

Author(s) -

Xiaoyan Qin

Publication year - 2013

Publication title -

abstract and applied analysis

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.228

H-Index - 56

eISSN - 1687-0409

pISSN - 1085-3375

DOI - 10.1155/2013/658050

Subject(s) - nonholonomic system , backstepping , control theory (sociology) , mathematics , bounded function , class (philosophy) , controller (irrigation) , state (computer science) , scaling , exponential function , mathematical optimization , adaptive control , computer science , robot , mobile robot , control (management) , algorithm , mathematical analysis , geometry , artificial intelligence , agronomy , biology

This paper investigates the adaptive stabilization problem for a class of stochastic nonholonomic systems with strong drifts. By using input-state-scaling technique, backstepping recursive approach, and a parameter separation technique, we design an adaptive state feedback controller. Based on the switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller can guarantee that the states of closed-loop system are global bounded in probability

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