Adaptive cooperative control of multi-mobile manipulators

This paper presents a multi-layer scheme for the adaptive coordinated cooperative control of n mobile manipulator. Each layer works as an independent module, dealing with a specific part of the problem of cooperation, coordination and adaptation, thus giving more flexibility to the scheme. Also, the redundancy of the n mobile manipulators is used for the avoidance of obstacles by the mobile platforms-without deforming the virtual structure and maintaining its desired trajectory- and the singular configuration prevention through the system´s manipulability control. Stability and robustness are proved by using Lyapunov´s theory. Simulation results show a good performance of the proposed control scheme as proved by the theoretical design.