Robust adaptive control of cooperating mobile manipulators with relative motion

Area of Science:

• Robotics
• Control Systems Engineering
• Mechatronics

Background:

• Cooperating mobile robotic manipulators are essential for complex manipulation tasks.
• Handling uncertainties and external disturbances is a key challenge in robotic control.
• Ensuring precise motion and force control for manipulated objects is critical.

Purpose of the Study:

• To develop centralized robust adaptive controls for two cooperating mobile robotic manipulators.
• To guarantee convergence of motion and force trajectories to desired manifolds with prescribed performance.
• To address uncertainties and external disturbances in the manipulation of a constrained object.

Main Methods:

• Coupled dynamics modeling for two cooperating mobile robotic manipulators.
• Design of centralized robust adaptive control algorithms.
• Lyapunov stability synthesis to prove closed-loop system stability and boundedness of tracking errors.

Main Results:

• The proposed adaptive controls ensure convergence of motion and force trajectories to desired manifolds.
• Tracking errors are ultimately bounded, demonstrating prescribed performance.
• The control system demonstrates robustness against relative motion disturbances and parametric uncertainties.

Conclusions:

• The developed centralized robust adaptive controls effectively manage coupled dynamics for cooperating robotic manipulators.
• The control strategy guarantees stability and achieves precise motion and force tracking under uncertainty.
• Simulation studies validate the effectiveness and robustness of the proposed control approach for robotic manipulation.