IEEE Transactions on Automatic Control, Vol.65, No.12, 5360-5367, 2020
Adaptive State-Feedback Stabilization of Stochastic High-Order Nonlinear Systems With Time-Varying Powers and Stochastic Inverse Dynamics
This article investigates adaptive state-feedback stabilization problem for a class of stochastic high-order nonlinear systems with unknown time-varying powers and stochastic inverse dynamics for the first time. The existence of stochastic inverse dynamics, unknown parameters, and time-varying powers makes stochastic high-order nonlinear systems essentially different from the related papers, which brings a series of obstacles to achieve the control objective. By virtue of the parameter separation principle, adaptive technique and some flexible algebraic methods, a novel adaptive state-feedback controller is designed to guarantee that the equilibrium of the closed-loop system is globally stable in probability. Finally, a simulation is provided to demonstrate the effectiveness of the control scheme.
Keywords:Springs;Time-varying systems;Adaptive systems;Stochastic systems;Nonlinear dynamical systems;Lyapunov methods;State-feedback stabilization;stochastic high-order nonlinear systems;stochastic inverse dynamics;time-varying powers