随机时滞非完整系统的自适应控制器设计

摘要

This paper deals with the stabilization problem for the stochastic nonholonomic time delay systems with unknown stochastic disturbances. The objective is to design the almost global asymptotical controllers in probability for the systems by using discontinuous control. The switching control strategy based on the output measurement of the first subsystem is em- ployed to achieve the asymptotic stabilization. The integrator backstepping technique based on a constructive manipulation is applied to the design of the controller. The asymptotic stabilization in probability is realized. Simulation examples are given to show the effectiveness of the proposed scheme.%本文处理具有随机时滞的非完整系统的控制器设计问题。目标是对这类随机时滞非完整系统通过应用非连续控制，设计一个依概率全局渐进稳定控制器。基于第一个子系统的输出测量的切换控制方案的应用得到系统渐进稳定。应用基于建设性操作的积分反推技术来设计控制器。系统的依概率渐进稳定得到实现。仿真算例进一步证明了设计过程的有效性。