Research On Control Problems Of High-order Non-holonomic Systems

This paper investigated the problem of feedback stabilization for two classes of highorder nonholonomic systems.The main results consist of the following two parts:1.Adaptive state feedback stabilization of stochastic high-order nonholonomic systemsThis part investigates adaptive state feedback stabilization for the more general stochastic high-order nonholonomic systems.By constructing the appropriate Lyapunov function,skillfully combining parameter separation,sign function and backstepping design methods,an adaptive state feedback controller is designed to eliminate the problem of uncontrollability and guarantee global asymptotic stability in probability of the closedloop system.Two simulation examples are used to demonstrate the effectiveness of this method.2.Finite-time output feedback stabilization of high-order nonholonomic systemsThis part addresses the problem of finite-time output feedback stabilization of a class of high-order nonholonomic systems under weaker conditions on system powers and nonlinearities.By constructing the appropriate Lyapunov function and observer,skillfully combining generalized adding a power integrator technique,sign function and homogeneous domination method,an output feedback controller is constructed to guarantee that all the states of the closed-loop system converge to equilibrium point in a finite time.