Robust Adaptive Control of Coordinated Multiple Mobile Manipulators

In this paper, robust adaptive controls of multiple mobile manipulators carrying a common object in a cooperative manner have been investigated with unknown inertia parameters and disturbances. At first, a concise dynamics consisting of the dynamics of mobile manipulators and the geometrical constraints between the end-effectors and the object is developed for coordinated multiple mobile manipulators, Then, robust adaptive controls have been designed where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. Simulation studies on the control of coordinated two wheels driven mobile manipulators have been used to show the effectiveness of the proposed scheme.