Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

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 e...

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Bibliographic Details
Main Authors: Liang Ding, Haibo Gao, Kerui Xia, Zhen Liu, Jianguo Tao, Yiqun Liu
Format: Article
Language:English
Published: Wiley 2012-01-01
Series:Journal of Applied Mathematics
Online Access:http://dx.doi.org/10.1155/2012/414315
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