随机非完整链式系统的自适应状态反馈镇定(英文)  

Adaptive state-feedback stabilization for stochastic nonholonomic chained systems

作　　者：张东凯[1,2] 王朝立[3] 陈华[4] 

机构地区：[1]上海理工大学管理学院,上海200093 [2]石家庄学院数学系与信息科学系,河北石家庄050035 [3]上海理工大学控制科学与工程系,上海200093 [4]河海大学数理教学部,江苏常州213022

出　　处：《控制理论与应用》2012年第11期1479-1487,共9页Control Theory & Applications

基　　金：supported by the Natural Science Foundation of China(Nos.60874002,10972011);Natural Science Foundation of Hebei Province of China(No.A2010001943);Natural Science Foundation of Hebei Education Committee(Nos.Z2011119.Z2012003);The Youth Fund of Hohai University(No.2010B23514)

摘　　要：基于反步技术,对带有不确定非线性项和不确定非线性系数的随机非完整链式系统,设计了自适应状态反馈镇定器.给出了能够保证系统依概率几乎渐近稳定到平衡点的切换控制.最后用仿真验证了控制器的有效性.Based on the backstepping approach, an adaptive state-feedback backstepping controller is designed for stochastic nonholonomic systems with uncertain nonlinear terms and uncertain nonlinear coefficients. A switching control strategy for the original system is developed which can guarantee that the closed-loop system is almost asymptotically stable at the zero equilibrium in probability. A simulation example is provided to illustrate the effectiveness of the controller.

关 键 词：随机非完整系统 状态反馈 反步 切换控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]