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...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2012-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2012/414315 |