Finite-time stabilization of stochastic nonholonomic systems

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is develop...

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Bibliographic Details
Main Authors: Fangzheng Gao, Fushun Yuan, Hejun Yao
Format: Conference Proceeding
Language:English
Subjects:
adding a power integrator
Closed loop systems
Convergence
finite time convergence
Lyapunov methods
Nonlinear systems
stochastic nonholonomic systems
Stochastic processes
Switches
switching control scheme
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Summary:This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with x 0 (0) = 0, global stochastic finite-time regulation of the closed-loop system states is achieved. An illustrative example is also provided to demonstrate the effectiveness of the proposed controller.
ISSN:1934-1768
2161-2927