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Adaptive backstepping controller design using stochastic small-gain theorem |
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| Authors: | Zhao-Jing Wu [Author Vitae] Xue-Jun Xie [Author Vitae] Si-Ying Zhang [Author Vitae] |
| Affiliation: | a School of Mathematics and Information Science, Yantai University, Yantai, Shandong Province 264005, PR China b Institute of Automation, Qufu Normal University, Qufu, Shandong Province 273165, PR China c School of Electrical Engineering and Automation, Xuzhou Normal University, Xuzhou, Jiangsu Province 221116, PR China d School of Information Science and Engineering, Northeastern University, Shenyang, Liaoning Province 110004, PR China |
| Abstract: | A more general class of stochastic nonlinear systems with unmodeled dynamics and uncertain nonlinear functions are considered in this paper. With the concept of input-to-state practical stability (ISpS) and nonlinear small-gain theorem being extended to stochastic case, by combining stochastic small-gain theorem with backstepping design technique, an adaptive output-feedback controller is proposed. It is shown that the closed-loop system is practically stable in probability. A simulation example demonstrates the control scheme. |
| Keywords: | Nonlinear stochastic systems ISpS Backstepping Small-gain theorem Unmodeled dynamics |
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