On Observer Based Stochastic Trajectory Tracking Control of Mechanical Systems

Abstract

This paper concerns an observer based stochastic trajectory tracking control of mechanical systems. We consider mechanical systems in the presence of noise as stochastic systems and derive a condition for a stabilizing or tracking controller to achieve each control objective. We investigate the case that only position information can be measured and the velocity signal is reconstructed by an observer. A construction method of the combined controller-observer is derived. Since the proposed method is based on stochastic bounded stability, the norms of tracking and estimation errors remain arbitrarily small in probability.