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1、◎中國近代第一所大學(xué)FOUNDEDlN1895碩天洋大謦TIANJlNUNIVERSlTY毒=．-≤．。蓑。《i{．．≤!H；j墓參蔓蠹謄論i文時R-爿j蹦■臻一n學(xué)科黃作簧嬡程指爹慧《嘲．?薹。萋愛毒i；¨；；。薰驥
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4、；_≯蘩鬻鬻蘩黍；鼉鬻i+鬻譽萋ii，熏飄。；薰冀密天津大學(xué)研究生院、鐓授ABSTRACTTherealesomanyresearchesaboutnonholonomicsystemsandstochasticsystems．respectively．However,thereisnoresearchconsider
5、ingthenonholonomiesystemswithdisturbancesasmochasficsystems．Withrespecttothephysicalsystems，itisreasonabletOregardtheexternalandunmodelleddisturbancesasstochasticdisturbances．Sohere，wefirstmodelthenonholonomicsystemswithstochasticdisturbancesbystoehasticdifferentialequati
6、onsInthisthesis，thestabilizationproblemofnonholonomicsystemswithstochasticdisturbancesorwithunknowncovariancestochasticdisturbancesiSconsidered．TheobjectiveistodesignthealmostglobalasymptoticalcontrollersinprobabilityUoand“l(fā)tostabilizethesystemsmodelledbymochasticdifferen
7、tialequations．Firstly，thenonholonomicsystemswithstochasticdisturbancesareconsidered．ThecontrolinputUoisdesignedtoalmostasymptoticallystabilizeinprobabilitythex0一subsystembothatthesingularcasexo(to)=0andatthenon-singularcase而‰)≠0byusingswitchcontrollaw．Then，thestatescaling
8、isintroducedfordiscontinuousfeedbackcontrollawwhendealingwiththe(而，x2，?，■)一subsystemAccordingtothis，thediscontinuousfeedbackcontrollaw,togetherwiththebaeksteppingtechnique，isadoptadtoalmostasymptoticallystabilizeinprobabilitythe．01，x2，?，矗)一subsystemunderbothdifferentuoatt
9、WOinitialstates：thesingularXo(to)=Oeaseandthenon·singularxo(to)≠0caseSecondly'thenonholonomicsystemswithunknowncovariancestochasticdisturbancesaredealt．Thedesignprocedureisthesameastheabove．What’Smoleisthattheadaptivecontrollawisemployedforunknowncovariancestochasticdiaur
10、bancesbyestimatingtheunknownparameters．Finally,asthetheoremspresenLthenonholonomicsystemswithstochasticdisturbancesorwithunknowncovariancestochasticdisturbanteswillbealmostasymptocallystabilizedinprobabilitybythecontrollawsdesignedinthisthesis．Andthesimulationresultsverif
11、ythevalidityofthecontrollaws．KEYWORDS：NonholonomicSystems，StochasticDisturbances，DiscontinuousFe
