Adaptive state feedback stabilization of more general stochastic high-order nonholonomic systems

摘要

This paper investigates adaptive state feedback stabilization for a class of more general stochastic high-order nonholonomic systems. By constructing the appropriate Lyapunov function, skillfully combining parameter separation, sign function, and backstepping design methods, an adaptive state feedback controller is designed to eliminate the phenomenon of uncontrollability and guarantee global asymptotic stability in probability of the closed-loop system. Two simulation examples are used to demonstrate the effectiveness of this method.