stabilization of stochastic nonholonomic systems

《stabilization of stochastic nonholonomic systems》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、◎中国近代第一所大学FOUNDEDlN1895硕天洋大謦TIANJlNUNIVERSlTY毒=．-≤．。蓑。《i{．．≤!H；j墓参蔓蠹誊论i文时R-爿j蹦■臻一n学科黄作簧嫒程指爹慧《嘲．⋯薹。萋爱毒i；¨；；。薰骥

2、

3、

4、；_≯蘩鬻鬻蘩黍；鼍鬻i+鬻誉萋ii，熏飘。；薰冀密天津大学研究生院、镦授ABSTRACTTherealesomanyresearchesaboutnonholonomicsystemsandstochasticsystems．respectively．However,thereisnoresearchconsider

5、ingthenonholonomiesystemswithdisturbancesasmochasficsystems．Withrespecttothephysicalsystems，itisreasonabletOregardtheexternalandunmodelleddisturbancesasstochasticdisturbances．Sohere，wefirstmodelthenonholonomicsystemswithstochasticdisturbancesbystoehasticdifferentialequati

6、onsInthisthesis，thestabilizationproblemofnonholonomicsystemswithstochasticdisturbancesorwithunknowncovariancestochasticdisturbancesiSconsidered．TheobjectiveistodesignthealmostglobalasymptoticalcontrollersinprobabilityUoand“ltostabilizethesystemsmodelledbymochasticdifferen

7、tialequations．Firstly，thenonholonomicsystemswithstochasticdisturbancesareconsidered．ThecontrolinputUoisdesignedtoalmostasymptoticallystabilizeinprobabilitythex0一subsystembothatthesingularcasexo(to)=0andatthenon-singularcase而‰)≠0byusingswitchcontrollaw．Then，thestatescaling

8、isintroducedfordiscontinuousfeedbackcontrollawwhendealingwiththe(而，x2，⋯，■)一subsystemAccordingtothis，thediscontinuousfeedbackcontrollaw,togetherwiththebaeksteppingtechnique，isadoptadtoalmostasymptoticallystabilizeinprobabilitythe．01，x2，⋯，矗)一subsystemunderbothdifferentuoatt

9、WOinitialstates：thesingularXo(to)=Oeaseandthenon·singularxo(to)≠0caseSecondly'thenonholonomicsystemswithunknowncovariancestochasticdisturbancesaredealt．Thedesignprocedureisthesameastheabove．What’Smoleisthattheadaptivecontrollawisemployedforunknowncovariancestochasticdiaur

10、bancesbyestimatingtheunknownparameters．Finally,asthetheoremspresenLthenonholonomicsystemswithstochasticdisturbancesorwithunknowncovariancestochasticdisturbanteswillbealmostasymptocallystabilizedinprobabilitybythecontrollawsdesignedinthisthesis．Andthesimulationresultsverif

11、ythevalidityofthecontrollaws．KEYWORDS：NonholonomicSystems，StochasticDisturbances，DiscontinuousFe