Stochastic adaptive controller design with application to mechanical system

Abstract

The main purpose of this paper is to apply stochastic adaptive controller design to mechanical system. Firstly, by a series of coordinate transformations, the mechanical system can be transformed to a class of special high-order stochastic nonlinear system, based on which, a more general mathematical model is considered and the smooth state-feedback controller is designed. At last, the simulation for the mechanical system is given to show the effectiveness of the design scheme.