Feedback Stabilization of a Torque Controlled Rigid Robot Corrupted by Noise

Thepurpose of this paper is to study the stabilizability of a classof nonlinear control stochastic differential systems the deterministicpart of which reduces to the equations of a torque controlledrigid robot. In fact, we derive sufficient conditions for theexistence of stabilizing feedback laws which render the equilibriumsolution of the closed-loop system asymptotically stable in probability.