Finite-time sliding mode control of Markovian jump systems subject to actuator nonlinearities and its application to wheeled mobile manipulator

This work is concerned with the finite-time sliding mode control for a class of Markovian jump systems subject to actuator nonlinearities, where the elements in the transition rate matrix are uncertain or even completely unknown. A suitable sliding mode controller is designed such that the finite-time stochastic boundedness of state trajectories is attained during a given finite-time interval, in which two different robust terms are introduced for the known and unknown modes to deal with the effect of uncertain transition rates. Moreover, the connections among sliding functions under Markovian jumping for SMC systems are analyzed. Finally, some simulation results with a wheeled mobile manipulator are provided. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.