Adaptive control of multiple mobile manipulators transporting a rigid object

  • Abdelkrim BrahmiEmail author
  • Maarouf Saad
  • Guy Gauthier
  • Wen-Hong Zhu
  • Jawhar Ghommam
Regular Papers Robot and Applications


This paper presents a nonlinear control scheme for multiple mobile manipulator robots (MMR) moving a rigid object in coordination. The dynamic parameters of the handled object and the mobile manipulators are estimated online using the virtual decomposition approach. The control law is designed based on an appropriate choice of the Lyapunov function candidate. The proposed control design ensures that the position error in the workspace converges to zero, and the external force error is bounded. Numerical simulations and an experimental validation are carried out for two mobile manipulators transporting an object in order to show the effectiveness of the proposed controller.


Coordination mobile manipulator nonlinear control virtual decomposition approach 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  • Abdelkrim Brahmi
    • 1
    Email author
  • Maarouf Saad
    • 1
  • Guy Gauthier
    • 1
  • Wen-Hong Zhu
    • 2
  • Jawhar Ghommam
    • 3
  1. 1.École de technologie supérieureMontrealCanada
  2. 2.Space Exploration Canadian Space AgencySaint-HubertCanada
  3. 3.École National d’Ingenieurs de Sfax, Research Unit on Mechatronics and Automation SystemsBPWSfaxTunisia

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