南京理工大学学报（自然科学版）2025，Vol.49Issue(5)：536-546,11.DOI:10.14177/j.cnki.32-1397n.2025.49.05.003
具有逆动态的随机前馈非线性系统的指数镇定
Exponential stabilization of stochastic feedforward nonlinear systems with inverse dynamics
摘要
Abstract
This paper addresses the output feedback exponential stabilization problem for a class of uncertain stochastic feedforward nonlinear systems with stochastic inverse dynamics,parameter uncertainty and dynamic uncertainty.This paper proposes a novel time-varying dynamic gain construction method to address the stabilization challenge of the system.The key innovation of this gain lies in its dual function:firstly,it enhances robustness and can effectively compensate for and suppress the adverse effects of multiple uncertainties;the second is performance assurance,which strictly ensures that the closed-loop system state converges almost inevitably to the origin at an exponential rate by incorporating time-varying information into the update law.Based on this gain,an output feedback controller is designed.Utilizing the nonnegative semimartingale convergence theorem and stochastic input-to-state stability small-gain conditions,it is proven that the controller guarantees the existence of a continuous solution for the closed-loop system.Furthermore,both the system states and observer states converge to the origin at an exponential rate,i.e.,the convergence speed is not less than e-ct,and c is a normal constant.The method proposed in the paper not only significantly enhances the capability of stochastic feedforward system stabilization theory to handle complex uncertainties,particularly stochastic inverse dynamics,but also achieves global exponential stabilization with guaranteed quantitative convergence rates,through explicitly designed time-varying gains,thereby providing new tools for related control problems of stochastic nonlinear systems.关键词
随机前馈非线性系统/随机逆动态/输出反馈控制/指数镇定Key words
stochastic feedforward nonlinear systems/stochastic inverse dynamics/output-feedback control/exponential stabilization分类
计算机与自动化引用本文复制引用
崔荣恒..具有逆动态的随机前馈非线性系统的指数镇定[J].南京理工大学学报（自然科学版）,2025,49(5):536-546,11.基金项目
国家自然科学基金(62503227) （62503227）
国家资助博士后研究人员计划(GZB20250956) （GZB20250956）
中国博士后科学基金(2025T181130 （）
2024M764218) （）
中央高校基本科研业务费专项资金(30925010311) （30925010311）
