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Output feedback control for stochastic nonholonomic systems with growth rate restriction. (English) Zbl 1248.93137
Summary: The output feedback stabilization problem is investigated in this paper for nonholonomic systems with stochastic disturbances. The objective is to design global asymptotic stabilization output feedback controllers in probability for systems by using discontinuous control. A switching control strategy based on the output measurement of the first subsystem is employed to achieve almost global asymptotic stabilization in probability. The input-state scaling technique is introduced for discontinuous feedback and a high gain observer is introduced for state estimates. Thereby, the integrator backstepping technique is applied to the design of the controllers. The output feedback global asymptotic stabilization in probability is realized. An example is given to show the effectiveness of the proposed scheme.
MSC:
93D15Stabilization of systems by feedback
93D20Asymptotic stability of control systems
93E15Stochastic stability