Backstepping-based robust H∞ tracking control design for a class of stochastic nonlinear systems

In this paper, an approach based on backstepping techniques is proposed to design robust H ∞ tracking controller for a class of strict-feedback stochastic nonlinear systems with Itô-type. The approach employs backstepping techniques and combines Lyapunov theory with robust H ∞ disturbance attenuation performance to design H ∞ tracking controller. The difficulties are avoided for solving the Hamilton-Jacobi equations or the Hamilton-Jacobi inequalities as well as LMIs, which present in the existing papers, so that the controller can be designed more easily. The designed controller can guarantee that the output tracking error of the system is bounded in probability, at the same time, it can assure that all signals in the closed-loop system are bounded in probability, and there is the H ∞ disturbance attenuation performance for the external perturbation. Finally, the simulation results demonstrate the feasibility and validity of the proposed control scheme.