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Output feedback stabilization for stochastic nonholonomic systems with nonlinear drifts and Markovian switching
Author(s) -
Zhang Dongkai,
Wang Chaoli,
Wei Guoliang,
Chen Hua
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.864
Subject(s) - backstepping , nonholonomic system , control theory (sociology) , nonlinear system , computer science , control (management) , nonlinear control , output feedback , control engineering , mobile robot , engineering , robot , adaptive control , physics , artificial intelligence , quantum mechanics
This paper investigates the output feedback stabilization of stochastic nonholonomic systems which have both nonlinear drifts and M arkovian switching. The state‐scaling and backstepping techniques are exploited in the design of control laws. The output feedback stabilizing control laws and switching control strategy are proposed so that the closed‐loop system can be stabilized in probability in the large. In the end, an example of nonholonomic mobile robots is provided to illustrate the effectiveness of control laws.