Mode-Dependent H \(\mathbf{\infty }\) Tracking Control for Semi-Markov Jumping Robotic Manipulators Under Random Disturbances

In our manuscript, we study the issue of output tracking control of a semi-markovian jumping robot manipulator with random disturbances. Specifically, a novel mode-dependent ouput tracking control strategy is designed to our robotic manipulator hence the robotic manipulator can track the reference system and achieve the \(H_{\infty }\) performance index. The mode-dependent Lyapunov function is used to obtain sufficient stability conditions and control parameters to complete the tracking control target of the manipulator through the linear matrix inequality (LMI) algorithm. Lastly, this designed method have been demonstrated by numerical simulation, as this robotic manipulator system achieves capable tracking in the presence of time-varying state jumps (Weibull Distribution) and random disturbances.