Adaptive sliding mode control of mobile manipulators with Markovian switching joints
type: Item
instance of: scholarly article
title: Adaptive sliding mode control of mobile manipulators with Markovian switching joints
zbMATH Open document ID: 1251.93089
DOI: 10.1155/2012/414315
author: Xianqiang Yang
published in: Journal of Applied Mathematics
publication date: 2012-11-15T00:00:00Z
review text: Summary: The hybrid joints of manipulators can be switched to either active (actuated) or passive (underactuated) mode as needed. Consider the property of hybrid joints, the system switches stochastically between active and passive systems, and the dynamics of the jump system cannot stay on each trajectory errors region of subsystems forever; therefore, it is difficult to determine whether the closed-loop system is stochastically stable. In this paper, we consider stochastic stability and sliding mode control for mobile manipulators using stochastic jumps switching joints. Adaptive parameter techniques are adopted to cope with the effect of Markovian switching and nonlinear dynamics uncertainty and follow the desired trajectory for wheeled mobile manipulators. The resulting closed-loop system is bounded in probability and the effect due to the external disturbance on the tracking errors can be attenuated to any preassigned level. It has been shown that the adaptive control problem for the Markovian jump nonlinear systems is solvable if a set of coupled linear matrix inequalities (LMIs) have solutions. Finally, a numerical example is given to show the potential of the proposed techniques.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93D05
zbMATH DE Number: 6106205
zbMATH Keywords: stochastic stability
zbMATH Keywords: sliding mode control
zbMATH Keywords: mobile manipulators
zbMATH Keywords: stochastic jumps switching joints
Wikidata QID: Q58906871
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/414315
OpenAlex ID: W2142280335
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DBLP publication ID: journals/jam/DingGXLTL12
description: scientific article; zbMATH DE number 6106205