An Adaptive Cooperative Manipulation Control Framework for Multi-Agent Disturbance Rejection

Aladele, Victor (author): Georgia Inst Technol, Dept Elect & Comp Engn, Atlanta, GA 30318 USA.

Hutchinson, Seth (author): Georgia Inst Technol, Dept Elect & Comp Engn, Atlanta, GA 30318 USA.

Georgia Inst Technol, Dept Elect & Comp Engn, Atlanta, GA 30318 USA Reglerteknik (creator_code:org_t)

Institute of Electrical and Electronics Engineers (IEEE), 2022
2022
English.
In: 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 100-106

Related links:: https://urn.kb.se/re...; show more...; https://doi.org/10.1...; show less...

Abstract Subject headings

The success of a cooperative manipulation process depends on the level of disturbance rejection between the cooperating agents. However, this attribute may be jeopardized due to unexpected behaviors, such as joint saturation or internal collisions. This leads to deterioration in the performance of the manipulation task. In this paper, we present an adaptive distributed control framework that directly mitigates these internal disturbances, both in the joint (and task) spaces. With our approach, we show that including the manipulator-load coupling in the definition of the task error yields improved performance and robustness. To validate this statement, we provide stability guarantees and simulation results for two implementation cases.

By the author/editor: Aladele, Victor; Rodriguez de Cos ...; Dimarogonas, Dim ...; Hutchinson, Seth

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Control Engineer ...

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