|Further Results on Adaptive State-feedback Stabilization for a Class of Stochastic Nonholonomic Systems with Time Delays
Xiao-Yan Qin* and Hui-Fang Min
International Journal of Control, Automation, and Systems, vol. 16, no. 2, pp.640-648, 2018
Abstract : "This paper further studies the adaptive stabilization problem for a class of stochastic nonholonomic systems
with time delays, unknown parameterization and control coefficients. By using input-state-scaling technique,
backstepping recursive approach, and the parameter separation technique, we design an adaptive state-feedback
controller under weaker conditions on the drift and diffusion terms. Then, by adopting the switching strategy to
eliminate the phenomenon of uncontrollability, the proposed adaptive state-feedback controller can guarantee the
states of the closed-loop system to be global boundedness in probability. Finally, the simulation result shows the
effectiveness of the proposed scheme."
Backstepping, input-state-scaling, stochastic nonholonomic systems, time delays.
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