Output feedback stabilization of stochastic high-order planar nonlinear systems with stochastic inverse dynamics and output-constraint

Abstract

In this paper, we solve the output feedback control problem of stochastic high-order planar nonlinear systems with output constraint and stochastic integral input-to-state stability (SiISS) inverse dynamics. By employing a key coordinate transformation, a stochastic nonlinear system with output constraint and SiISS inverse dynamics is converted into an unconstrained system. By skillfully constructing an observer and adopting SiISS small-gain conditions, we develop a new output feedback control design and analysis method, and prove that all the closed-system signals are bounded almost surely, the output constraint is not violated almost surely, and the equilibrium point of the closed-loop system is stochastically asymptotically stable.