Adaptive Coordinated Cooperative Control of Multi-Mobile Manipulators

VICTOR ANDALUZ; FLAVIO ROBERTI; TOIBERO, J. M.; CARELLI, R.; WAGNER, B.

LECTURE NOTES IN COMPUTER SCIENCE

Springer-Verlag

Año: 2011 vol. 7101 p. 563 - 574

0302-9743

This work presents a new adaptive dynamic control to solve the path following problem for the unicycle-like mobile robot. First, it is proposed a dynamic modeling of a unicycle-like mobile robot where it is considered that its mass center is not located at the center the wheels’ axle. Then, the design of the control algorithm is presented. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and an adaptive dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov’s method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.