Adaptive State Feedback Control for a Class of Stochastic Nonlinear Systems with Unknown Backlash-Like Hysteresis

摘要

This paper studies a class of stochastic nonlinear systems with unknown backlash-like hysteresis nonlinearities, which is in strict-feedback form and the hysteresis is modeled by a differential equation with the presence of bounded external disturbances. By employing the stochastic Lyapunov-like theorem and the backstepping design technique, an adaptive state feedback control is developed. The output of the closed-loop system is proven to follow the desired trajectory asymptotically in probability.