Chapter 8: Adaptive Coordinated Cooperative Control of Multi-Mobile Manipulators

VICTOR ANDALUZ; PAULO LEICA; FLAVIO ROBERTI; JUAN MARCOS TOIBERO; RICARDO CARELLI

Frontiers in Advanced Control Systems

In Tech Education and Publishing

Lugar: Rijeka; Año: 2012; p. 163 - 190

This Chapter is organized as follows. Section 2 shows the kinematic and dynamic models of the mobile manipulator. Section 3 presents the proposed multi-layer control scheme for the coordinated and cooperative control of mobile manipulators. While the forward and inverse kinematics transformations, necessary for the control scheme, are presented in Section 4. Section 5 describes the scalability for coordinated cooperative control of mobile manipulators. By its turn, Section 6 presents the design of the controller, and the analysis of the system’s stability is developed. Next, simulation experiments results are presented and discussed in Section 7, and finally the Chapter conclusions are given in Section 8.