Nonlinear robust controller design for multi-robot systems with unknown payloads

Y. D. Song; J. N. Anderson; A. Homaifar; H. Y. Lai

doi:10.1109/IRSSE.1992.671842

Nonlinear robust controller design for multi-robot systems with unknown payloads

Y. D. Song, J. N. Anderson, A. Homaifar, H. Y. Lai

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.

Original language	English
Title of host publication	Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	179-194
Number of pages	16
ISBN (Electronic)	0818631457, 9780818631450
DOIs	https://doi.org/10.1109/IRSSE.1992.671842
Publication status	Published - 1992
Event	4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992 - Troy, United States Duration: 1992 Sept 30 → 1992 Oct 1

Publication series

Name	Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992

Conference

Conference	4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992
Country/Territory	United States
City	Troy
Period	92-09-30 → 92-10-01

All Science Journal Classification (ASJC) codes

Mechanical Engineering
Control and Optimization
Artificial Intelligence
Aerospace Engineering

Access to Document

10.1109/IRSSE.1992.671842

Cite this

Song, Y. D., Anderson, J. N., Homaifar, A., & Lai, H. Y. (1992). Nonlinear robust controller design for multi-robot systems with unknown payloads. In Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992 (pp. 179-194). Article 671842 (Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRSSE.1992.671842

Song, Y. D. ; Anderson, J. N. ; Homaifar, A. et al. / Nonlinear robust controller design for multi-robot systems with unknown payloads. Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 179-194 (Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992).

@inproceedings{0ee9e71f60c64d2f957879d1935cf9cc,

title = "Nonlinear robust controller design for multi-robot systems with unknown payloads",

abstract = "This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.",

author = "Song, {Y. D.} and Anderson, {J. N.} and A. Homaifar and Lai, {H. Y.}",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE; 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992 ; Conference date: 30-09-1992 Through 01-10-1992",

year = "1992",

doi = "10.1109/IRSSE.1992.671842",

language = "English",

series = "Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "179--194",

booktitle = "Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992",

address = "United States",

}

Song, YD, Anderson, JN, Homaifar, A & Lai, HY 1992, Nonlinear robust controller design for multi-robot systems with unknown payloads. in Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992., 671842, Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992, Institute of Electrical and Electronics Engineers Inc., pp. 179-194, 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992, Troy, United States, 92-09-30. https://doi.org/10.1109/IRSSE.1992.671842

Nonlinear robust controller design for multi-robot systems with unknown payloads. / Song, Y. D.; Anderson, J. N.; Homaifar, A. et al.
Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992. Institute of Electrical and Electronics Engineers Inc., 1992. p. 179-194 671842 (Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.

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M3 - Conference contribution

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BT - Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992

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Song YD, Anderson JN, Homaifar A, Lai HY. Nonlinear robust controller design for multi-robot systems with unknown payloads. In Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992. Institute of Electrical and Electronics Engineers Inc. 1992. p. 179-194. 671842. (Proceedings - 4th Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1992). doi: 10.1109/IRSSE.1992.671842

Nonlinear robust controller design for multi-robot systems with unknown payloads

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