Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is develop...

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Bibliographic Details
Published inAbstract and Applied Analysis Vol. 2012; no. 1; pp. 646 - 663-241
Main Authors Gao, Fangzheng, Yuan, Fushun
Format Journal Article
LanguageEnglish
Published New York Hindawi Limiteds 01.01.2012
Hindawi Publishing Corporation
John Wiley & Sons, Inc
Wiley
Subjects
Closed loop systems
Control
Control theory
Controllers
Design engineering
Disturbances
Feedback
Nonlinear systems
Robots
Stabilization
Stochasticity
Strategy
Studies
Switching
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ISSN1085-3375
1687-0409
DOI10.1155/2012/361269

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Summary:This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with x0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.
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ISSN:1085-3375
1687-0409
DOI:10.1155/2012/361269