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Adaptive backstepping controller design using stochastic small-gain theorem. (English) Zbl 1114.93104
Summary: A more general class of stochastic nonlinear systems with unmodeled dynamics and uncertain nonlinear functions are considered in this paper. With the concept of input-to-state practical stability (ISpS) and nonlinear small-gain theorem being extended to stochastic case, by combining stochastic small-gain theorem with backstepping design technique, an adaptive output-feedback controller is proposed. It is shown that the closed-loop system is practically stable in probability. A simulation example demonstrates the control scheme.
MSC:
93E35Stochastic learning and adaptive control
93B52Feedback control
93C40Adaptive control systems
93D25Input-output approaches to stability of control systems
93E03General theory of stochastic systems
93C15Control systems governed by ODE
93C10Nonlinear control systems