Output feedback control of stochastic nonlinear systems with external disturbances and inverse dynamics

This work presents an approach to control a type of stochastic cascade nonlinear systems, which involve external disturbances and nonlinear terms. The external disturbances under the consideration are not measurable and regarded as extended states. The proposed method addresses the problem of unmeasured states and external disturbances by introducing an extended state observer (ESO). Based on the above work, a new stochastic nonlinear system including ESO is established. To ensure the stability and boundedness of the system, an adaptive output feedback controller is designed by using stochastic integrated input-to-state stability and backstepping design technique. This controller guarantees that all the states remain almost surely bounded and globally asymptotically stable in probability. Simulation experiments are conducted to validate the effectiveness of the proposed control scheme.