引用本文:张东凯,王朝立,陈华.随机非完整链式系统的自适应状态反馈镇定[J].控制理论与应用,2012,29(11):1479~1487.[点击复制]
ZHANG Dong-kai,WANG Chao-li,CHEN Hua.Adaptive state-feedback stabilization for stochastic nonholonomic chained systems[J].Control Theory and Technology,2012,29(11):1479~1487.[点击复制]
随机非完整链式系统的自适应状态反馈镇定
Adaptive state-feedback stabilization for stochastic nonholonomic chained systems
摘要点击 2562  全文点击 1617  投稿时间：2011-10-18  修订日期：2012-07-15
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DOI编号  10.7641/j.issn.1000-8152.2012.11.JCTA11215
  2012,29(11):1479-1487
中文关键词  随机非完整系统  状态反馈  反步  切换控制
英文关键词  stochastic nonholonomic systems  state-feedback  backstepping  switching control strategy
基金项目  This work is 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), and The Youth Fund of Hohai University (No. 2010B23514).
作者单位E-mail
张东凯* 上海理工大学 管理学院
石家庄学院 数学系与信息科学系 		zdkmailhot@126.com 
王朝立 上海理工大学 控制科学与工程系  
陈华 河海大学 数理教学部  
中文摘要
      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.
英文摘要
      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.