Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics

@article{Gueaieb2007RobustCE,
  title={Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics},
  author={Wail Gueaieb and Salah Al-Sharhan and Miodrag Bolic},
  journal={Automatica},
  year={2007},
  volume={43},
  pages={842-851}
}
This article presents a decentralized control scheme for the complex problem of simultaneous position and internal force control in cooperative multiple manipulator systems. The proposed controller is composed of a sliding mode control term and a force robustifying term to simultaneously control the payload's position/orientation as well as the internal forces induced in the system. This is accomplished independently of the manipulators dynamics. Unlike most controllers that do not require… CONTINUE READING

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