This paper studies the problems of stability and stabilization for a class of singular switching Semi-Markovian jump systems. The general transition rates (TRs) in the Semi-Markov process cover completely unknown and uncertain bounded as two special cases. Firstly, sufficient conditions are developed to ensure the unforced system to be regular, impulse-free and exponentially mean-square stable; Then, by proposing a state feedback controller, sufficient conditions in terms of strict linear matrix inequalities (LMIs) are derived to guarantee the closedloop system to be stochastically stabilziable. Finally, a numerical example is provided to show the effectiveness of the obtained results.

This paper is focused on event-triggered fuzzy sliding mode control of networked control systems regulated by semi-Markov process. First, through movement-decomposition method, the networked control system is transformed into two lower-order subsystems. Then, an event-triggered scheme based on a delay system model approach is proposed in designing the switching surface and obtaining the sliding mode dynamics. Further, a fuzzy sliding mode controller is developed to realize reachability of a predefined switching surface and desirable sliding motion. Moreover, in terms of linear matrix inequality method, sufficient conditions for stochastic stability of the obtained sliding mode dynamics is developed in the sense of generally uncertain transition rates. Finally, the applicability of the proposed results are verified numerically on the single-link robot arm system.

This paper concerns with the problem of robust fuzzy sliding mode control for continuous-time Takagi-Sugeno fuzzy systems with semi-Markovian switching and nonlinear disturbances. The attentions are focused on designing a novel fuzzy integral sliding surface without assumption that the input matrices are the same with full column rank and then developing a fuzzy sliding mode controller for stochastic stability purpose. Based on Lyapunov theory, a set of newly developed linear matrix inequality conditions are established for stochastic stability of the sliding mode dynamics with generally uncertain transition rates, and then extended to the case where the input matrix are plant-rule independent as discussed in most existing literatures. Further, finite-time reachability of the sliding surface is also guaranteed by the proposed fuzzy sliding mode control laws. Finally, a practical example is provided to demonstrate the effectiveness of the established method numerically.

In the context of motion planning in robotics, the problem of path planning based on artificial potential fields has been examined using different algorithms to avoid trapping in local minima. With this objective, this paper proposes a novel method based on a deterministic annealing strategy to improve the potential field function by introducing a temperature parameter to increase the robot's obstacle avoidance efficiency. The annealing and tempering strategies prevent the robot from being trapped at the local minima and allow it to continue towards its destination. The initial path is optimised using an annealing algorithm to enhance the overall performance. The time, length and success rate of the planned path measures the quality of the solution. Simulation results and comparative experiments demonstrate that the proposed algorithm can solve path planning in different environments. The proposed algorithm is suitable for complex environments with convex or non-convex polygon obstacles.

In this article, a decentralized adaptive sliding mode control scheme is proposed for stabilization of large-scale semi-Markovian jump interconnected systems, in which dead-zone linearity in the input and unknown interconnections among subsystems are tackled. First, by designing an integral sliding surface for each subsystem, local sliding mode dynamics are obtained in good property of dynamics. Second, sufficient conditions are established for checking the stochastic stability of the sliding mode dynamics with generally uncertain and unknown transition rates. Third, a variable structure controller is designed to guarantee finite-time reachability of sliding surface, and the unknown interconnections among subsystems are compensated by adaptive laws. Finally, a numerical example is provided to verify the effectiveness of the proposed control scheme.