Adaptive stabilization of stochastic nonholonomic systems with nonlinear parameterization

摘要

This paper investigates the problem of adaptive stabilization by state-feedback for a class of stochastic nonholonomic systems in chained form with nonlinear parameterization. A parameter separation technique is introduced to transform the nonlinear parameterized nonholonomic system into a linear-like parameterized one. Then, using input-state-scaling and backstepping techniques, an adaptive state-feedback controller is obtained. Based on switching strategy to eliminate the phenomenon of uncontrollability, global asymptotic regulation in probability of the closed-loop system states are guaranteed. Finally, a simulation example is provided to illustrate the effectiveness of the proposed method.