Global Regulation of Time-Varying Stochastic Nonlinear Systems via Output Feedback and Its Application in One-Link Manipulator

Abstract

This study focuses on addressing the challenge of global output feedback control problem for a class of time-varying stochastic nonlinear systems subject to multiple uncertainties. The primary challenge concerns how to construct time-varying functions to counteract the effects of unmeasurable error coming from system output as well as the persistently increasing nonlinearities. By employing a full-order state observer and the dual gain approach, we design an output feedback regulator over the entire time domain to guarantee the existence and uniqueness of the closed-loop system’s solution and the almost sure asymptotic convergence of the state. This methodology achieves both the domination of the unknown growth rate and the unified system design, irrespective of sensor sensitivity. Finally, practical and numerical simulation examples demonstrate the feasibility of the presented approach.