Cooperative Manipulation of an Unknown Payload With Concurrent Mass and Drag Force Estimation | IEEE Journals & Magazine | IEEE Xplore

Cooperative Manipulation of an Unknown Payload With Concurrent Mass and Drag Force Estimation


Abstract:

In this letter, we consider a team of robots that cooperatively transport a payload with an unknown mass in the presence of unknown drag forces. We develop a concurrent l...Show More

Abstract:

In this letter, we consider a team of robots that cooperatively transport a payload with an unknown mass in the presence of unknown drag forces. We develop a concurrent learning-based adaptive control algorithm that estimates the drag forces and the unknown mass and drives the agents and the payload to a common desired velocity. The algorithm also regulates the contact forces on the payload. We prove that the estimated parameters, including the mass of the payload, converge to their true values. We validate the effectiveness of the proposed algorithm using two simulation examples.
Published in: IEEE Control Systems Letters ( Volume: 3, Issue: 4, October 2019)
Page(s): 907 - 912
Date of Publication: 29 May 2019
Electronic ISSN: 2475-1456

References

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