Summary
International Symposium on Nonlinear Theory and its Applications
2017
Session Number:B1L-D-2
Session:
Number:B1L-D-2-2
Global Solution to Nonholonomic System with Stochastic Feedbacks Based on Non-Smooth Stochastic Lyapunov Function
Taiga Uto, Yuki Nishimura,
pp.431-434
Publication Date:2017/12/4
Online ISSN:2188-5079
DOI:10.34385/proc.29.B1L-D-2-2
Summary:
Stabilization problems of nonholonomic systems are generally difficult due to the lack of the existence of smooth state-feedback laws making the origins asymptotically stable. Recently, the problems are simplified by the strategy of adding white noises as parts of control inputs. Using the strategy, we tried further simplifications of control inputs and stability analysis by restricting the noises to be one-dimensional and using the approach of non-smooth stochastic Lyapunov functions (SLFs). However, the analysis is still under construction because the SLFs do not ensure the existence of global solutions. In this paper, we carry on the analysis by providing the global solutions.