State-Feedback Stabilization of Stochastic Nonholonomic Systems with an Unknown Time-Varying Delay

Abstract

This paper investigates the state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay. Without imposing any assumptions on the time-varying delay, a state-feedback controller is skillfully designed by using input-state-scaling technique and backstepping control approach. The switching strategy is proposed to eliminate the phenomenon of uncontrollability and to guarantee that the closed-loop system has an almost surely unique solution for any initial state and the equilibrium of interest is globally asymptotically stable in probability. A simulation example demonstrates the effectiveness of the proposed scheme.