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论文类型：期刊论文

发表时间：2017-05-01

发表刊物：IEEE TRANSACTIONS ON AUTOMATIC CONTROL

收录刊物：SCIE、EI

卷号：62

期号：5

页面范围：2498-2504

ISSN号：0018-9286

关键字：Adaptive tracking control; backstepping; input saturation; stochastic uncertain nonlinear system

摘要：In this technical note, the problem of adaptive tracking control is investigated for a class of stochastic uncertain nonlinear systems in the presence of input saturation. To analyze the effect of input saturation, an auxiliary system is employed. With the help of backstepping technique, an adaptive stochastic tracking control approach is developed. Under the proposed adaptive tracking controller, the boundedness of all the signals in the closed-loop system is achieved almost surely. Moreover, distinct from most of the existing results, the ultimate tracking error can be bounded by an explicit function of design parameters and input saturation error (the error between the control input and saturated input) in the mean quartic sense. Finally, an example is given to show the effectiveness of the proposed scheme.