Abstract
The hybrid joints proposed in [1] and [2] can be switched to either active (actuated) or passive (under-actuated) mode as needed. In this paper, we develop a sliding mode control via Markovian switching for wheeled mobile manipulators with hybrid joints. The switching rate uncertainties are allowed within an uncertainty domain. By introducing specified matrices, the connections among the designed sliding surfaces corresponding to each mode are established. Furthermore, the presented sliding mode controller including the transition rates of modes can cope with the effect of Markovian switching, and the bounded torque control is designed to follow the desired trajectory for wheeled mobile manipulators subject to joint velocity constraints. Finally, a numerical example is given to illustrate the applicability of the method.
This work is supported by Shanghai Pujiang Program under Grant No. 08PJ1407000, Natural Science Foundation of China under Grant Nos. 60804003 and 60935001.
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Dai, L., Huang, D., Li, Z. (2010). Sliding Mode Control of Hybrid Joints for Wheeled Mobile Manipulators with Markovian Switching and Bounded Torques. In: Liu, H., Ding, H., **ong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_16
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DOI: https://doi.org/10.1007/978-3-642-16584-9_16
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