Output feedback stabilization for stochastic nonholonomic systems with nonlinear drifts and Markovian switching
Output feedback stabilization for stochastic nonholonomic systems with nonlinear drifts and Markovian switching
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DOI：
10.1002/asjc.864
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发表时间：
2014-11
影响因子：
2.4
通讯作者：
Dongkai Zhang;Chaoli Wang;G. Wei;Hua Chen
中科院分区：
文献类型：
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作者：
Dongkai Zhang;Chaoli Wang;G. Wei;Hua Chen
研究了一类具有非线性漂移和马尔可夫切换的随机非完整系统的输出反馈镇定问题。在控制律的设计中利用了状态缩放和反推技术。提出了输出反馈镇定控制律和切换控制策略，使闭环系统能够大概率镇定。最后以非完整移动的机器人为例说明了控制律的有效性。
This paper investigates the output feedback stabilization of stochastic nonholonomic systems which have both nonlinear drifts and Markovian switching. The state‐scaling and backstepping techniques are exploited in the design of control laws. The output feedback stabilizing control laws and switching control strategy are proposed so that the closed‐loop system can be stabilized in probability in the large. In the end, an example of nonholonomic mobile robots is provided to illustrate the effectiveness of control laws.