Coordinated Multi-Robot Trajectory Tracking over Sampled Communication

11/30/2021
by   Enrica Rossi, et al.
0

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling time of communications is non-negligible, disrupting the theoretical convergence guarantees of standard control designs. Given a feasible desired trajectory in the configuration space, the proposed controller receives measurements from the system at sampled time instants and computes velocity references for the robots, which are tracked by a low-level controller. We propose a jointly designed feedback plus feedforward controller with provable stability and error convergence guarantees, and further show that the obtained controller is amenable of decentralized implementation. We test the proposed control strategy via numerical simulations in the scenario of cooperative aerial manipulation of a cable-suspended load using a realistic simulator (Fly-Crane). Finally, we compare our proposed decentralized controller with centralized approaches that adapt the feedback gain online through smart heuristics, and show that it achieves comparable performance.

READ FULL TEXT
research
11/03/2021

Cooperative Transportation with Multiple Aerial Robots and Decentralized Control for Unknown Payloads

Cooperative transportation by multiple aerial robots has the potential t...
research
12/02/2021

Control of over-redundant cooperative manipulation via sampled communication

In this work we consider the problem of mobile robots that need to manip...
research
04/25/2023

How to design, and tune, a computed torque controller: An introduction and a Matlab example

This note briefly introduces the computed torque control method for traj...
research
02/04/2020

Decentralized Observer Design for Virtual Decomposition Control

In this paper, we incorporate velocity observer design into the virtual ...
research
05/06/2020

Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies

In this work, we consider a group of robots working together to manipula...
research
09/07/2022

Adaptive Passivity-Based Pose Tracking Control of Cable-Driven Parallel Robots for Multiple Attitude Parameterizations

The proposed control method uses an adaptive feedforward-based controlle...
research
04/16/2021

A Reduced Order Controller for Output Tracking of a Kelvin-Voigt Beam

We study output tracking and disturbance rejection for an Euler-Bernoull...

Please sign up or login with your details

Forgot password? Click here to reset