控制理论(社会学)
控制器(灌溉)
执行机构
滑模控制
马尔可夫链
计算机科学
理论(学习稳定性)
工程类
控制(管理)
非线性系统
人工智能
农学
量子力学
生物
机器学习
物理
作者
Baoping Jiang,Zhengtian Wu,Zhen Liu,Bo Li
标识
DOI:10.1016/j.conengprac.2023.105558
摘要
This paper deals with the security control problem of a wheeled mobile manipulator that is subjected to various challenges, such as Markov switching parameters, actuator false data injection attacks, un-modeled nonlinearities, and deficient transition rates. As actuator attacks are often not fully known or predictable, an adaptive scheme is proposed to dynamically eliminate their negative effects. To achieve an ideal sliding motion, a smooth integral hyperplane is introduced. Since the transition rates of the joints may vary, it is important to design a controller that can maintain the expected sliding motion under different mode information. Additionally, stochastic stability analysis is conducted for the sliding motion considering different types of transition rates. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.
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