Release Time:2019-03-12  Hits:

Indexed by: Journal Article

Date of Publication: 2017-05-01

Journal: IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Included Journals: EI、SCIE

Volume: 62

Issue: 5

Page Number: 2498-2504

ISSN: 0018-9286

Key Words: Adaptive tracking control; backstepping; input saturation; stochastic uncertain nonlinear system

Abstract: 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.