Research Article
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 |
| 1 | normal | normal | normal | normal | | normal | 2 | normal | underactuated | normal | normal | | normal | 3 | normal | underactuated | underactuated | normal | | normal | 4 | normal | underactuated | normal | underactuated | | normal | | | | | | | | | normal | underactuated | underactuated | underactuated | | underactuated |
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