Robust control of multiple robots handling a constrained load

摘要

Multiple-robot systems are usually confronted with uncertainties, such as uncertainties in the manipulators and load parameters, and unmodelled dynamics. In this paper, the problem of controlling multiple manipulators handling a constrained load is addressed. A reduced-order dynamic model of the system is first derived, and several properties of this model are established. Using the reduced-order model, a robust control law is proposed. This controller guarantees the uniform ultimate boundedness of the position error, the internal-force error, and the constraint-force error. The proposed control law requires only the bounds on the uncertainties of the parameters. Simulation results of two planar robots moving a load along a horizontal plane are given to illustrate the theoretical developments.