Controller design for truck-trailer stochastic system subject to H2 performance and strictly input passivity

This paper deals with the mixed H₂/passivity performance controller design problem for truck-trailer stochastic system. Based on the Ito stochastic equation, the stochastic behavior of the system can be described by multiplicative noise. Using the H₂ control scheme, the output energy of the system is minimized under initial conditions. Moreover, the passivity performance is applied to attenuate instable energy from external disturbance. Employing the Lyapunov function, the asymptotical stability of the system is discussed by solving the derived sufficient conditions. Moreover, the mixed H₂/passivity performance can be achieved to minimize the output energy and strictly input passivity of the system. Finally, the proposed design methodology is applied to solve the stability problem of truck-trailer system. And, simulation results show that the designed mixed H₂/passivity controller effectively makes the Truck-Trailer stochastic system for achieving the mixed H₂/passivity performance and asymptotical stability in the mean square.