Robust adaptive control of multiple robots in cooperative motion using σ modification

The problem of multiple robots manipulating a rigid object cooperatively is addressed. An adaptive controller based on Lyapunov´s second method is proposed. This controller takes into account the dynamics of both the object and the manipulators. The controller does not require feedback of joint accelerations and inversion of inertia or Jacobian matrices. The global stability, in the sense of Lyapunov, of the overall system is shown. The effects of bounded disturbances the multirobot system are also considered. An adaptive control law which guarantees the convergence of the tracking error to a bounded set is proposed. The size of the set is shown to depend on the be bounds of the disturbances