Sliding-Mode Control for Stabilizing High-Order Stochastic Systems: Application to One-Degree-of-Freedom Aerial Device

This paper is concerned with the problem of designing a control strategy to guarantee stability in probability for high-order stochastic systems. The control hinges on the sliding-mode scheme. We first prove that the control design can stabilize a fast terminal sliding-mode function. We further show that the stable sliding mode is able to assure the stability in probability for the high-order stochastic system. The resulting system may account nonvanishing diffusion terms, which is regarded as a novelty. The derived control strategy has implications for applications - experiments are carried out to control the pitch angle of a one-degree-of-freedom aerial device. The corresponding experimental results demonstrate the benefits and effectiveness of our approach.