Implicit control of mobile under-actuated manipulators using support vector machine

In this paper, we construct a novel control using LS-SVM matrix operator to achieve the stablization of wheeled under-actuated manipulators. Further, the relative degree of the regulated output is assumed to be known enabling the system is feedback linearizable. By Lyapunov´s direct method, it is shown that the tracking error can be controlled in a small neighborhood of zero. The methodology is applicable to minimum phase observable and stabilizable systems of unknown but bounded dimension, as long as the relative degree is known. The simulation on the mobile under-actuated manipulator demonstrates the effectiveness of the proposed control method.