Stochastic Hamiltons principle and noisy sliding surfaces in the tracking control of manipulators

In the tracking control of manipulators via the sliding scheme, it may happen that sometimes, because of various inaccuracies, the definition of the actual sliding surface involves errors terms which may be either deterministic or, on the contrary, stochastic. This paper considers this last case and shows how one can estimate the new performances of the system so disturbed. A stochastic Hamilton’s principle is applied, by combining the Lagrange parameter technique with results of the dynamic programming approach.