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Adaptive robust control of nonholonomic systems with stochastic disturbances

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Abstract

This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances. The objective is to design the almost global adaptive asymptotical controllers in probability u 0 and u 1 for the systems by using discontinuous control. A switching control law u 0 is designed to almost globally asymptotically stabilize the state x 0 in both the singular x 0(t 0)=0 case and the non-singular x 0(t 0)≠0 case. Then the state scaling technique is introduced for the discontinuous feedback into the (x 1, x2, ⋯, x n )-subsystem. Thereby, by using backstepping technique the global adaptive asymptotical control law u 1 has been presented for (x 1, x2, ⋯, x n )-subsystem for both different u 0 in non-singular x 0(t 0)≠0 case and the singular case x 0(t 0)=0. The control algorithm validity is proved by simulation.

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Authors and Affiliations

  1. School of Electrical and Automation Engineering, Tianjin University, Tianjin, 300072, China

    Wang Jiang, Gao Hanqiao & Li Huiyan

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  1. Wang Jiang
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  2. Gao Hanqiao
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  3. Li Huiyan
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Correspondence to Wang Jiang.

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Wang, J., Gao, H. & Li, H. Adaptive robust control of nonholonomic systems with stochastic disturbances. SCI CHINA SER F 49, 189–207 (2006). https://doi.org/10.1007/s11432-006-0189-5

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  • DOI: https://doi.org/10.1007/s11432-006-0189-5

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