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State‐feedback stabilization for high‐order stochastic nonlinear systems with stochastic inverse dynamics
Author(s) -
Xie XueJun,
Tian Jie
Publication year - 2007
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1177
Subject(s) - control theory (sociology) , nonlinear system , state (computer science) , affine transformation , inverse , feedback control , inverse dynamics , controller (irrigation) , mathematics , feedback controller , full state feedback , computer science , control (management) , control engineering , engineering , agronomy , physics , geometry , kinematics , algorithm , quantum mechanics , artificial intelligence , classical mechanics , pure mathematics , biology
For a class of high‐order stochastic nonlinear systems with stochastic inverse dynamics which are neither necessarily feedback linearizable nor affine in the control input, this paper investigates the problem of state‐feedback stabilization for the first time. Under some weaker assumptions, a smooth state‐feedback controller is designed, which ensures that the closed‐loop system has an almost surely unique solution on [0, ∞), the equilibrium at the origin of the closed‐loop system is globally asymptotically stable in probability, and the states can be regulated to the origin almost surely. A simulation example demonstrates the control scheme. Copyright © 2007 John Wiley & Sons, Ltd.