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Further Results on Adaptive State-feedback Stabilization for a Class of Stochastic Nonholonomic Systems with Time Delays

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  • Control Theory and Applications
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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.

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Author information

Authors and Affiliations

  1. College of Mathematics and Statistics, Zaozhuang University, Zaozhuang, 277160, China

    Xiao-Yan Qin

  2. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Hui-Fang Min

  3. School of Electrical Engineering & Automation, Jiangsu Normal University, Xuzhou, 221116, China

    Hui-Fang Min

Authors
  1. Xiao-Yan Qin
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  2. Hui-Fang Min
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Corresponding author

Correspondence to Xiao-Yan Qin.

Additional information

Recommended by Associate Editor Hongyi Li under the direction of Editor Duk-Sun Shim. This paper is supported by National Natural Science Foundation of China (Nos. 61573172, 61305149 and 61403174), Shandong Province Natural Science Foundation of China (No. ZR2016AL05), 333 High-level Talents Training Program in Jiangsu Province (No.BRA2015352) and Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province (No. 15KJB510011).

Xiao-Yan Qin received the M.S. degree from Qufu Normal University in 1998. She is an associate professor at the Zaozhuang University, China. Her research interests include nonlinear adaptive control, stochastic nonlinear control, and stochastic nonholonomic nonlinear control.

Hui-Fang Min is now a doctoral student at School of Automation, Nanjing University of Science and Technology. She has received the M.S. degree from School of Electrical Engineering and Automation, Jiangsu Normal University, China. Her research interests include nonlinear adaptive control and stochastic nonlinear control.

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Qin, XY., Min, HF. Further Results on Adaptive State-feedback Stabilization for a Class of Stochastic Nonholonomic Systems with Time Delays. Int. J. Control Autom. Syst. 16, 640–648 (2018). https://doi.org/10.1007/s12555-017-0112-4

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  • DOI: https://doi.org/10.1007/s12555-017-0112-4

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