Decentralised adaptive fuzzy control of coordinated multiple mobile manipulators interacting with non-rigid environments

Many robotic applications involve the tasks in which multiple coordinated mobile manipulators system interacts with rigid or non-rigid environments. In this study, we study the topic of multiple mobile manipulators grasping a rigid common object in contact with a deformable working environment, for which few investigations have been made. To solve the difficulty. We first develop the decentralised dynamics of the inter-connected system, including the dynamics of the mobile manipulators, the internal forces between end-effectors and the object and the interaction forces between the object and the environments. Then, we design decentralised adaptive fuzzy control based on impedance approach for coordinated multiple mobile manipulators using Lyapunov synthesis. Rigourous stability and performance analysis have been established, and simulation are presented to figuratively demonstrate that the motion/force-tracking errors converge to zero, whereas the internal force-tracking error remains bounded and can be made arbitrarily small.