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Journal of Zhejiang University SCIENCE A 2006 Vol.7 No.10 P.1742~1747


Stabilization of stochastic nonholonomic systems

Author(s):  KE Hai-sen, YE Xu-dong

Affiliation(s):  Department of Electrical Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   kehaisen@zju.edu.cn

Key Words:  Time-varying technique, Nonholonomic, Backstepping, Stochastic

KE Hai-sen, YE Xu-dong. Stabilization of stochastic nonholonomic systems[J]. Journal of Zhejiang University Science A, 2006, 7(10): 1742~1747.

@article{title="Stabilization of stochastic nonholonomic systems",
author="KE Hai-sen, YE Xu-dong",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

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%T Stabilization of stochastic nonholonomic systems
%A KE Hai-sen
%A YE Xu-dong
%J Journal of Zhejiang University SCIENCE A
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%N 10
%P 1742~1747
%@ 1673-565X
%D 2006
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2006.A1742

T1 - Stabilization of stochastic nonholonomic systems
A1 - KE Hai-sen
A1 - YE Xu-dong
J0 - Journal of Zhejiang University Science A
VL - 7
IS - 10
SP - 1742
EP - 1747
%@ 1673-565X
Y1 - 2006
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2006.A1742

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.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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