Distributed Coordination and Cooperation Control for Networked Mobile Manipulators

@article{Dai2017DistributedCA,
  title={Distributed Coordination and Cooperation Control for Networked Mobile Manipulators},
  author={Gong-Bo Dai and Yen-Chen Liu},
  journal={IEEE Transactions on Industrial Electronics},
  year={2017},
  volume={64},
  pages={5065-5074}
}
This paper addresses distributed coordination and cooperation control for networked mobile manipulators over a jointly connected topology with time delays. First, tracking control is proposed to guarantee the position and velocity synchronization of the networked mobile manipulators, while keeping a formation. For cooperation control, the decoupled dynamics is considered so that the task and null space of the mobile manipulators can be designed to achieve different missions. For end-effector… CONTINUE READING

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