Output feedback control for stochastic nonholonomic systems with growth rate restriction

The output feedback stabilization problem is investigated in this paper for nonholonomic systems with stochastic disturbances. The objective is to design global asymptotical 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 asymptotical stabilization in probability. The input-state scaling technique is introduced for discontinuous feedback and a high gain observer is introduced for states estimate. Thereby, the integrator backstepping technique is applied to the design of the controllers. The output feedback global asymptotical stabilization in probability is realized. An example is given to show the effectiveness of the proposed scheme. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

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