Robust Adaptive Control of Multiple Robots in Cooperative Motion

In this paper, we address the problem of multiple robots manipulating a rigid object cooperatively. An adaptive controller based on Lyapunov´s second method is proposed. This controller takes into account the dynamics of both the object and the manipulation. Global stability in the sense of Lyapunov of the overall system is shown. The effects of bounded disturbances on the multi-robot 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 this set is shown to depend on the bounds of the disturbances.