Journal of Applied Mathematics

Research Article

Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

Table 2

Simulation modes.
Mode Joint status Mode Joint statusLinearization Section
𝜃 𝑟 𝜃 𝑙 𝜃 1
1 𝐴 𝐴 𝐴 5 𝐴 𝐴 𝑃 I I I
2 𝐴 𝐴 𝐴 6 𝐴 𝐴 𝑃 II I I
3 𝐴 𝑃 𝐴 7 𝐴 𝑃 𝑃 II I II
4 𝐴 𝑃 𝐴 8 𝐴 𝑃 𝑃 II II II