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Adaptive state feedback stabilization of more general stochastic high‐order nonholonomic systems
Author(s) -
Li GuangJu,
Xie XueJun
Publication year - 2018
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2898
Subject(s) - backstepping , nonholonomic system , control theory (sociology) , lyapunov function , state (computer science) , stability (learning theory) , controller (irrigation) , computer science , adaptive control , robot , mobile robot , nonlinear system , control (management) , artificial intelligence , algorithm , physics , quantum mechanics , machine learning , agronomy , biology
Summary This paper investigates adaptive state feedback stabilization for a class of more general stochastic high‐order nonholonomic systems. By constructing the appropriate Lyapunov function, skillfully combining parameter separation, sign function, and backstepping design methods, an adaptive state feedback controller is designed to eliminate the phenomenon of uncontrollability and guarantee global asymptotic stability in probability of the closed‐loop system. Two simulation examples are used to demonstrate the effectiveness of this method.