Partial-state Feedback Stabilization for a Class of Generalized Nonholonomic Systems with ISS Dynamic Uncertainties

2018 ◽  
Vol 16 (1) ◽  
pp. 79-86 ◽  
Author(s):  
Yan Zhao ◽  
Chunxiao Wang ◽  
Jiangbo Yu
Keyword(s):  
State Feedback ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Partial State ◽  
Dynamic Uncertainties

Adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations

2020 ◽  
pp. 014233122097417
Author(s):  
Qinghui Du
Keyword(s):  
State Feedback ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Feedback Controller ◽  
Input State ◽  
Time Varying ◽  
Initial State ◽  
State Feedback Controller ◽  
Time Varying Delay ◽  
Varying Delay

The problem of adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations is studied in this paper. Without imposing any assumptions on the time-varying delay, an adaptive state-feedback controller is skillfully designed by using the input-state scaling technique and an adaptive backstepping control approach. Then, by adopting the switching strategy to eliminate the phenomenon of uncontrollability, the proposed adaptive state-feedback controller can guarantee that the closed-loop system has an almost surely unique solution for any initial state, and the equilibrium of interest is globally asymptotically stable in probability. Finally, the simulation example shows the effectiveness of the proposed scheme.

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