IEEE Transactions on Automatic Control, Vol.46, No.8, 1237-1253, 2001
Stabilization of stochastic nonlinear systems driven by noise of unknown covariance
This paper poses and solves a new problem of stochastic (nonlinear) disturbance attenuation where the task is to make the system solution bounded (in expectation, with appropriate nonlinear weighting) by a monotone function of the supremum of the covariance of the noise. This is a natural stochastic counterpart of the problem of input-to-state stabilization in the sense of Sontag. Our development starts with a set of new global stochastic Lyapunov theorems. For an exemplary class of stochastic strict-feedback systems with vanishing nonlinearities, where the equilibrium is preserved in the presence of noise, we develop an adaptive stabilization scheme (based on tuning functions) that requires no a priori knowledge of a bound on the covariance. Next, we introduce a control Lyapunov function formula for stochastic disturbance attenuation. Finally, we address optimality and solve a differential game problem with the control and the noise covariance as opposing players; for strict-feedback systems the resulting Isaacs equation has a closed-form solution.
Keywords:adaptive backstepping;control Lyapunov functions;input-to-state stability (ISS);inverse optimality;Sontag formula;stability in probability;stochastic disturbance attenuation