Stabilization of stochastic nonholonomic systems with unknown control directions
- Resource Type
- Conference
- Authors
- Zheng, Xiuyun; Ji, Tao
- Source
- Proceedings of the 30th Chinese Control Conference Control Conference (CCC), 2011 30th Chinese. :405-410 Jul, 2011
- Subject
- Robotics and Control Systems
Power, Energy and Industry Applications
Components, Circuits, Devices and Systems
Communication, Networking and Broadcast Technologies
Computing and Processing
Switches
Stochastic processes
Lyapunov methods
Feedback control
Backstepping
Generators
Stochastic nonholonomic systems
Integrator backstepping
Switching control strategy
- Language
- ISSN
- 1934-1768
2161-2927
This paper deals with the stabilization problem for the stochastic nonholonomic systems with unknown stochastic disturbances and unknown control directions. The switching control strategy based on the output measurement of the first subsystem is employed to achieve the asymptotic stabilization. Thereby, the integrator backstepping technique based on a constructive manipulation is applied to the design of the controller. The asymptotic stabilization in probability is realized. Also an example is given to show the effectiveness of the proposed scheme.