Feedback stabilization of a torque controlled rigid robot corrupted by noise (Q5929962)

The author presents a nonlinear state feedback law that renders stable in probability the equilibrium solution of the closed-loop system associated to a torque controlled rigid robot. The dynamical system is a \(2n\)-dimensional stochastic differential equation in the sense of Itô: \[ x_t = x_0 +\int_0^t (Ax_s+B(u-H(x_1)^{-1}(C(x_1,x_2)x_2+\tau_g(x_1)))) ds +\int_0^t C g(x_s^1,x_s^2) dw_s \] where \(A,B,C\) are fixed matrices, \(H(\cdot)\), \(C(\cdot)\), \(\tau_g(\cdot)\) and \(g(\cdot)\) nonlinear functions defined in terms of the dynamics of the robot. The state feedback stabilizing law is given by \[ u(x) = H^{-1}(x^1)\tau_g(x^1)+\overline{F}x \] with \(\overline{F}\) well chosen. To prove this result, the author explicitly constructs a Lyapunov function and then invokes the stochastic version of the Lyapunov Theorem.