摘要
In this paper,a new stochastic analysis tool on semi-global stability is constructed,for nonlinear systems disturbed by stochastic processes with strongly bounded in probability.The definition of semi-global noise to state practical stability in probability and its Lyapunov criterion for random systems are presented.As a major application of stability,the semi-global practical tracking of random nonlinear systems based on dynamic surface control technique is considered.The trajectory tracking of manipulator robot driven by direct current motors is carried out in simulation to illustrate the effectiveness and feasibility of the control scheme.
基金
supported by the National Natural Science Foundations of China under Grant No.62073275。
