Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

Joint Authors

Ding, Liang
Gao, Haibo
Xia, Kerui
Liu, Zhen
Tao, Jianguo
Liu, Yiqun

Source

Journal of Applied Mathematics

Issue

Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-24, 24 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2012-07-03

Country of Publication

Egypt

No. of Pages

24

Main Subjects

Mathematics

Abstract EN

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.

American Psychological Association (APA)

Ding, Liang& Gao, Haibo& Xia, Kerui& Liu, Zhen& Tao, Jianguo& Liu, Yiqun. 2012. Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints. Journal of Applied Mathematics،Vol. 2012, no. 2012, pp.1-24.
https://search.emarefa.net/detail/BIM-993235

Modern Language Association (MLA)

Ding, Liang…[et al.]. Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints. Journal of Applied Mathematics No. 2012 (2012), pp.1-24.
https://search.emarefa.net/detail/BIM-993235

American Medical Association (AMA)

Ding, Liang& Gao, Haibo& Xia, Kerui& Liu, Zhen& Tao, Jianguo& Liu, Yiqun. Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints. Journal of Applied Mathematics. 2012. Vol. 2012, no. 2012, pp.1-24.
https://search.emarefa.net/detail/BIM-993235

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-993235