Search: onr:"swepub:oai:DiVA.org:oru-61153" >
An Adaptive Coopera...
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.
-
- Rodriguez de Cos, Carlos, 1992- (author)
- KTH,Reglerteknik
-
- Dimarogonas, Dimos V. (author)
- KTH,Reglerteknik
-
show more...
-
- Hutchinson, Seth (author)
- Georgia Inst Technol, Dept Elect & Comp Engn, Atlanta, GA 30318 USA.
-
show less...
-
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
Close
- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publication and Content Type
- ref (subject category)
- kon (subject category)
To the university's database