Dynamic Control of Multiple Joint Manipulators Interacting with Dynamic Environment
The dynamic adaptive control of multiple robot manipulators handling a dynamic object motion of which is constrained by the dynamic environment, when object and/or environment parameters are not known in advance, is proposed. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; (ii) the parameters of the system are not precisely known; (iii) the system parameters do vary in a known regions about their nominal values. The proof that controller is asymptotically stable is based on the Lyapunov stability theory.
KeywordsDynamic Environment Lyapunov Stability Theory Multiple Robot Control Goal Strictly Positive Real
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