Passivity based control of stochastic mechanical system

Abstract

In this paper, a new method is proposed for controller design for a class of stochastic underactuated mechanical system. A controller is designed for stochastic double integrator system derived by backstepping procedure and the idea is to cancel noise at its source without allowing it to enter the system dynamics. The proposed control strategy is then applied to stochastic underactuated mechanical system. We represent actuated dynamics in the stochastic double integrator form. This approach was found to be suitable for cancellation of multiplicative noise influencing actuated coordinates of the system. The effectiveness of the proposed control law is tested on the stochastic SpiderCrane model with underactuation of degree one.