Control design for partial stabilization of nonlinear mechanical systems with random disturbances

Abstract

The problem of the partial stabilization of nonlinear control systems de- scribed by the Ito stochastic differential equations is considered. For these systems, we propose a constructive control design method, which provides the partial asymptotic stability in probability of the trivial solution of the closed-loop system with respect to a part of state variables. Mechanical ex- amples are presented to illustrate the eciency of the proposed controllers.