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Adaptive control of multiple mobile manipulators transporting a rigid object

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Abstract

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.

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Author information

Authors and Affiliations

  1. École de technologie supérieure, 1100 Notre-Dame StreetWest, Montreal, QC, Canada, H3C 1K3

    Abdelkrim Brahmi, Maarouf Saad & Guy Gauthier

  2. Space Exploration Canadian Space Agency, 6767 route de l’Aeroport, Saint-Hubert, QC, Canada, J3Y 8Y9

    Wen-Hong Zhu

  3. École National d’Ingenieurs de Sfax, Research Unit on Mechatronics and Automation Systems, BPW, 3038, Sfax, Tunisia

    Jawhar Ghommam

Authors
  1. Abdelkrim Brahmi
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  2. Maarouf Saad
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  3. Guy Gauthier
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  4. Wen-Hong Zhu
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  5. Jawhar Ghommam
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Corresponding author

Correspondence to Abdelkrim Brahmi.

Additional information

Recommended by Editor Young Hoon Joo.

Abdelkrim Brahmi received the B.Sc. and M.Sc. degrees in electrical engineering from the the University of sciences and technologies of Oran, Algeria, in 1997 and 2009, respectively. He is currently pursuing the Ph.D. degree in electrical engineering from Quebec University (École de Technologie Supérieure), Montreal, QC, Canada. His current research interests include nonlinear control, adaptive control applied to coordinated robotic systems.

Maarouf Saad received the B.S. and M.S. degrees in Electrical Engineering from Ecole Polythechnique of Montreal, Montreal,QC,Canada,in 1982 and 1984,respectively, and the PhD. degree in Electrical Engineering from McGill University, Montreal, in 1988. In 1987, he joined Ecole de Technologie Superieure, Montreal, where he is currently teaching control theory and robotics courses. His research is mainly in nonlinear control and optimization applied to power systems, flight control and robotics.

Guy Gauthier received the B.S. degree in electrical engineering from University Laval, Quebec City, Canada, in 1984. Then, he received the B.Tech degree in automated manufacturing from École de téchnologie supérieure, Montreal, Canada, in 1987. He received the M.S. degree in electrical engineering from Ecole polytechnique of Montreal, Canada, in 1997. Finally he received the Ph.D. degree in 2008 from McGill University, Montreal. The Ph.D. degree was in electrical engineering and the research was on Terminal Iterative Learning Control applied to a thermoforming oven. He is currently a professor at École de téchnologie supérieure (Montreal, Canada) in the department of automated manufacturing engineering. His research area is mainly on robotic, iterative learning control and fuzzy control. He teaches courses on sensors, actuators, microcontrollers and modelling and control of industrial processes.

Wen-Hong Zhu received the Bachelor and the M.S. degrees from Northwestern Polytechnical University in 1984 and 1987, respectively, and the Ph.D. degree from Xian Jiaotong University in 1991. Dr. Zhu was Postdoctoral Fellows at Shanghai Jiao Tong University during 1991-1993, Korea Advanced Institute of Science and Technology (KAIST) in 1995, Katholieke Universiteit Leuven during 1996-1997, and University of British Columbia during 1997-1999. Dr. Zhu worked at University of British Columbia as a Scientific Engineer from 1999 to 2001 before joining Canadian Space Agency (CSA). Dr. Zhus primary technical contribution is the initiation of the Virtual Decomposition Control (VDC) approach which has been tested on a variety of ground robots and a next-generation space robot at CSA, improving tracking control precision by at least an order of magnitude. He also contributed to adaptive teleoperation, coordinated motion/force control of multiple industrial robots with egg holding capability, control of microgravity isolation systems, output force control of hydraulic robots, adaptive control of harmonic drives, and very recently precision control of modular robot manipulators. Dr. Zhu authored one book and co-authored three book chapters, all published by Springer-Verlag. He has been the leading author of more than 60 journal and conference publications. Dr. Zhu is an IEEE Senior Member and a holder of NSERC Discovery Grant.

Jawhar Ghommam was born in Tunis, Tunisia, in 1979. He received the B.Sc. degree from the Institut Nationale des Sciences Appliquées et de Technologies (INSAT), Tunisia, In 2003, the M.Sc. degree in control engineering from the Laboratoire dInformatique, de Robotique et de Microelectronique (LIRMM),Montpellier, France, in 2004, and the Ph.D. in control engineering and industrial computers, in 2008, jointly from the University of Orlt’eans, France, and the Ecole Nationale dIngénieurs de Sfax, Tunisia. He is currently an Associate Professor of control engineering at the INSAT, Tunisia. He is a member of the Control, Energy Management Lab. His research interests include nonlinear control of underactuated mechanical systems, adaptive control, guidance and control of underactuated ships, and cooperative motion of nonholonomic vehicles.

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Brahmi, A., Saad, M., Gauthier, G. et al. Adaptive control of multiple mobile manipulators transporting a rigid object. Int. J. Control Autom. Syst. 15, 1779–1789 (2017). https://doi.org/10.1007/s12555-015-0116-x

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  • DOI: https://doi.org/10.1007/s12555-015-0116-x

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