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An Adaptive Cooperative Manipulation Control Framework for Multi-Agent Disturbance Rejection
Georgia Inst Technol, Dept Elect & Comp Engn, Atlanta, GA 30318 USA..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-6080-3994
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
Georgia Inst Technol, Dept Elect & Comp Engn, Atlanta, GA 30318 USA..ORCID iD: 0000-0002-3949-6061
2022 (English)In: 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), Institute of Electrical and Electronics Engineers (IEEE) , 2022, p. 100-106Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2022. p. 100-106
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-326435DOI: 10.1109/CDC51059.2022.9992478ISI: 000948128100015Scopus ID: 2-s2.0-85146989538OAI: oai:DiVA.org:kth-326435DiVA, id: diva2:1754216
Conference
IEEE 61st Conference on Decision and Control (CDC), DEC 06-09, 2022, Cancun, MEXICO
Note

QC 20230503

Available from: 2023-05-03 Created: 2023-05-03 Last updated: 2023-05-03Bibliographically approved

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Rodriguez de Cos, CarlosDimarogonas, Dimos V.

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CiteExportLink to record
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Output format
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