Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

Table 1

The modes of operation.

Mode	The modes of hybrid joints
	Right wheel	Left wheel	Joint 1	Joint 2	⋯	Joint 𝑛𝑎
1	normal	normal	normal	normal	⋯	normal
2	normal	underactuated	normal	normal	⋯	normal
3	normal	underactuated	underactuated	normal	⋯	normal
4	normal	underactuated	normal	underactuated	⋯	normal
⋮	⋮	⋮	⋮	⋮	⋮	⋮
2^𝑛𝑎+1	normal	underactuated	underactuated	underactuated	⋯	underactuated