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A Nonlinear Model Predictive Control scheme for cooperative manipulation with singularity and collision avoidance
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2017 (English)In: 2017 25th Mediterranean Conference on Control and Automation, MED 2017, IEEE conference proceedings, 2017, 707-712 p., 7984201Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents.In particular, we propose a Nonlinear Model Predictive Control(NMPC) scheme that guarantees the navigation of the object to a desired pose in a bounded workspace with obstacles, while complying with certain input saturations of the agents. Moreover, the proposed methodology ensures that the agents do not collide with each other or with the workspace obstacles as well as that they do not pass through singular configurations.The feasibility and convergence analysis of the NMPC are explicitly provided. Finally, simulation results illustrate the validity and efficiency of the proposed method.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2017. 707-712 p., 7984201
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-211178DOI: 10.1109/MED.2017.7984201Scopus ID: 2-s2.0-85027884303ISBN: 9781509045334 (print)OAI: oai:DiVA.org:kth-211178DiVA: diva2:1127987
Conference
25th Mediterranean Conference on Control and Automation, MED 2017, University of Malta, Valletta CampusValletta, Malta, 3 July 2017 through 6 July 2017
Note

QC 20170802

Available from: 2017-07-20 Created: 2017-07-20 Last updated: 2017-08-31Bibliographically approved

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Nikou, AlexandrosVerginis, ChristosDimarogonas, Dimos V.
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