Adaptive Control for Stochastic Nonholonomic Systems with Strong Nonlinear Drifts

作     者：Liu Yungang Zhang Jifeng Jia Lei Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100080 School of Control Sciences and Control Engineering, Shandong University, Jinan, 250061 

会议名称：《第二十二届中国控制会议》

会议日期：2003年

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

关 键 词：Nonholonomic systems with strong nonlinearity drift Stochastic disturbance Backstepping approach Adaptive control Risk-neutral cost functional. 

摘      要：正The purpose of the paper is to develop the systematic design procedure of adaptive control for stochastic nonholonomic systems in chained form with strong nonlinear drifts. Two types of such control systems: the state-feedback control and output-feedback control are considered. The controllers designed can ensure the resulting closed-loop system be stable in probabilistic sense, and admit an arbitrarily small long-term average cost for a risk-neutral cost functional. We also study under which conditions it is possible to ensure the resulting closed-loop system be asymptotically stable in the large when state-feedback control is considered and be semiglobally asymptotically stable when output-feedback control is considered, and at the same time, the risk-neutral cost be guaranteed to zero.