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Adaptive Control of Multiple Mobile Manipulators Transporting a Rigid Object
Abdelkrim Brahmi,Maarouf Saad,Guy Gauthier,Wen-Hong Zhu,Jawhar Ghommam 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
This paper presents a nonlinear control scheme for multiple mobile manipulator robots (MMR) movinga rigid object in coordination. The dynamic parameters of the handled object and the mobile manipulators areestimated online using the virtual decomposition approach. The control law is designed based on an appropriatechoice of the Lyapunov function candidate. The proposed control design ensures that the position error in theworkspace converges to zero, and the external force error is bounded. Numerical simulations and an experimentalvalidation are carried out for two mobile manipulators transporting an object in order to show the effectiveness ofthe proposed controller.