Journal Article

Robust control of multiple robots handling a constrained load

MOHAMED ZRIBI and LOULIN HUANG

in IMA Journal of Mathematical Control and Information

Published on behalf of Institute of Mathematics and its Applications

Volume 15, issue 3, pages 215-231
Published in print September 1998 | ISSN: 0265-0754
Published online September 1998 | e-ISSN: 1471-6887 | DOI: http://dx.doi.org/10.1093/imamci/15.3.215
Robust control of multiple robots handling a constrained load

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Multiple-robot systems are usually confronted with uncertainties, such as uncertainties in the manipulators and load parameters, and unmodelled dynamics. In this paper, the problem of controlling multiple manipulators handling a constrained load is addressed. A reduced-order dynamic model of the system is first derived, and several properties of this model are established. Using the reduced-order model, a robust control law is proposed. This controller guarantees the uniform ultimate boundedness of the position error, the internal-force error, and the constraint-force error. The proposed control law requires only the bounds on the uncertainties of the parameters. Simulation results of two planar robots moving a load along a horizontal plane are given to illustrate the theoretical developments.

Journal Article.  0 words. 

Subjects: Mathematics

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