Cooperative transportation by multiple mobile manipulators using adaptive NN control

Xin Chen, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

11 Citations (Scopus)

Abstract

It is a challenging task for multiple robots working together to realize object transportation. This paper studies a practical situation that a group of mobile manipulators are used to transport an object whose mass can not be ignored. From the viewpoint of formation, a leader-follower type control is designed. To overcome parameter uncertainty in modeling robot, a decentralized control law is applied to individual robots, in which an adaptive NN is used to model robot dynamics online. Using Lyapunov theory, we have proved that if all endeffectors of robots will keep proper relative distances with a regular formation to manipulate a heavy object, the object will be transported to the destination at last. But due to parameter uncertainties, there may exist a static position error, which can be reduced by proper selection of control coefficients.
Original languageEnglish
Title of host publicationInternational Joint Conference on Neural Networks 2006, IJCNN '06
Pages4193-4200
Number of pages8
Publication statusPublished - 1 Dec 2006
Externally publishedYes
EventInternational Joint Conference on Neural Networks 2006, IJCNN '06 - Vancouver, BC, Canada
Duration: 16 Jul 200621 Jul 2006

Conference

ConferenceInternational Joint Conference on Neural Networks 2006, IJCNN '06
Country/TerritoryCanada
CityVancouver, BC
Period16/07/0621/07/06

ASJC Scopus subject areas

  • Software

Cite this