Output feedback stabilization for stochastic nonholonomic systems with nonlinear drifts and Markovian switching

摘要

Abstract This paper investigates the output feedback stabilization of stochastic nonholonomic systems which have both nonlinear drifts and M arkovian switching. The state‐scaling and backstepping techniques are exploited in the design of control laws. The output feedback stabilizing control laws and switching control strategy are proposed so that the closed‐loop system can be stabilized in probability in the large. In the end, an example of nonholonomic mobile robots is provided to illustrate the effectiveness of control laws.