@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",
}