抄録
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.
