This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.


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    Title :

    Nonlinear Robust Controller Design for Multi-Robot Systems with Unknown Payloads


    Contributors:
    Y. D. Song (author) / J. N. Anderson (author) / A. Homaifar (author) / H. Y. Lai (author)

    Publication date :

    1992


    Size :

    16 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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