中文摘要：

针对一类含未知常参数向量的高阶随机非线性系统的依概率输出跟踪控制问题,提出了一种非光滑状态反馈动态面控制器设计方法.利用自适应技术,所设计的控制器能够处理未知常参数向量;通过采用Sigmoid函数,保证了期望虚拟控制律的导数连续;通过选取适当形式的李亚普诺夫函数,进行了闭环高阶随机非线性系统的稳定性分析.主要贡献是用动态面技术解决了在高阶随机非线性系统非光滑状态反馈控制器设计过程中的计算膨胀问题.仿真结果表明了闭环系统输出依概率地跟踪上了参考信号.

英文摘要：

To deal with the output tracking problem for a class of high-order stochastic nonlinear systems with unknown parameter vector in probability, we propose a non-smooth state-feedback dynamic surface controller. The adaptive control technology is used by the proposed controller to deal with the unknown parameter vector. And the Sigmoid function is introduced to guarantee that the derivative of the virtual controller is continuous. By means of choosing an appropriate Lyapunov function, the stability of the close-loop high-order stochastic nonlinear systems is analyzed. The main contribution lies in incorporating dynamic surface control into the non-smooth state-feedback controller design of the high-order stochastic nonlinear systems to overcome the problem of explosion of calculation. The simulation result shows that the output tracks the reference signal well in probability.