Brief paper: Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments

Authors:
Zhijun Li;Jianxun Li;Yu Kang
Affiliations:
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;University of Science and Technology of China, Hefei, China
Venue:
Automatica (Journal of IFAC)
Year:
2010

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Abstract

In this paper, we consider multiple mobile manipulators grasping a common object in contact with a rigid surface, and propose a new version of adaptive robust control extended to the actuator level for multiple mobile manipulators carrying a common object in a cooperative manner. The proposed controls are robust not only to parametric uncertainties including mass variation and electrical parameters but also to external disturbances. Simulation results are presented to validate that the motion/force tracking errors converge to zero whereas the internal force tracking error remains bounded and can be made arbitrarily small.