Nonsmooth Adaptive Control Design for a Large Class of Uncertain High-Order Stochastic Nonlinear Systems

<table>The trajectories of <svg height="12.175" id="M336" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 8.5249996 12.175" width="8.5249996" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M471 401q0 -32 -14 -91l-83 -376q-30 -146 -21 -180l-7 -15q-22 0 -47.5 23.5t-25.5 40.5q0 49 53 271l53 224q4 18 6.5 31t3.5 22.5t1 15t-2 9t-4.5 4.5t-6.5 1q-31 0 -100.5 -63.5t-126.5 -145.5q-16 -53 -40 -163q-48 -11 -74 -21l-7 8l82 341q9 36 -4 36
q-8 0 -28.5 -14t-38.5 -32l-17 22q41 43 85 71t66 28q23 0 23 -39q0 -19 -10 -64l-24 -103h2q77 101 201 182q37 24 74 24q31 0 31 -47z" id="x1D702"></path></g>
</svg>, <svg height="11.825" id="M337" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 15.9625 11.825" width="15.9625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M536 404q0 -17 -13.5 -31.5t-26.5 -14.5q-8 0 -15 10q-11 14 -25 14q-22 0 -67 -50q-47 -52 -68 -82l37 -102q31 -88 55 -88t78 59l16 -23q-32 -48 -68.5 -78t-65.5 -30q-19 0 -37.5 20t-29.5 53l-41 116q-72 -106 -114.5 -147.5t-79.5 -41.5q-21 0 -34.5 14t-13.5 37
q0 16 13.5 31.5t28.5 15.5q12 0 17 -11q5 -10 25 -10q22 0 57.5 36t89.5 111l-40 108q-22 58 -36 58q-21 0 -67 -57l-19 20q81 107 125 107q17 0 30 -22t39 -88l22 -55q68 92 108.5 128.5t74.5 36.5q20 0 32.5 -14t12.5 -30z" id="x1D465"></path></g>
<g transform="matrix(.012,-0,0,-.012,9.563,11.762)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg>, <svg height="11.825" id="M338" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 15.9625 11.825" width="15.9625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><use xlink:href="#x1D465"></use></g>
<g transform="matrix(.012,-0,0,-.012,9.563,11.762)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg>.</table>

Mathematical Problems in Engineering

fig1

Figure 1

Figure 1: Nonsmooth Adaptive Control Design for a Large Class of Uncertain High-Order Stochastic Nonlinear Systems 