The problem of adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations is studied in this paper. Without imposing any assumptions on the time-varying delay, an adaptive state-feedback controller is skillfully designed by using the input-state scaling technique and an adaptive backstepping control approach. Then, by adopting the switching strategy to eliminate the phenomenon of uncontrollability, the proposed adaptive state-feedback controller can guarantee that the closed-loop system has an almost surely unique solution for any initial state, and the equilibrium of interest is globally asymptotically stable in probability. Finally, the simulation example shows the effectiveness of the proposed scheme.

研究了具有未知时变时滞和扰动的随机非完整系统的自适应状态反馈镇定问题。在不对时变延迟施加任何假设的情况下，通过使用输入状态缩放技术和自适应反步控制方法巧妙地设计了自适应状态反馈控制器。然后，通过采用切换策略消除不可控现象，所提出的自适应状态反馈控制器可以保证闭环系统对于任何初始状态都具有几乎确定的唯一解，并且在任何情况下目标均衡都是全局渐近稳定的。可能性。最后，仿真算例表明了所提方案的有效性。