Stabilization of stochastic nonholonomic systems with unknown control directions

This paper deals with the stabilization problem for the stochastic nonholonomic systems with unknown stochastic disturbances and unknown control directions. The switching control strategy based on the output measurement of the first subsystem is employed to achieve the asymptotic stabilization. Thereby, the integrator backstepping technique based on a constructive manipulation is applied to the design of the controller. The asymptotic stabilization in probability is realized. Also an example is given to show the effectiveness of the proposed scheme.