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Cooperative Transportation of Mobile Manipulators With Collision Avoidance
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this work, we propose two Nonlinear Model Predictive Control(NMPC) schemes, Decentralized Nonlinear Model Predictive Control(DNMPC) and Centralized Nonlinear Model Predictive Control (CNMPC),for cooperative transportation of an object, which is rigidlygrasped by N agents. We use feedback linearization and model reductionto reduce overall complexity of the model. We also providea mathematical proof for feasibility and convergence of the schemes.Finally, we use simulations and experiments to validate the robustnessand efficiency of the proposed schemes.

Abstract [sv]

I det här arbetet föreslår vi två system för icke-linjär model predictivecontrol (NMPC), Decentraliserad icke-linjär MPC (DNMPC) och centraliseradicke-linjär MPC (CNMPC), för kooperativ transport av ettobjekt, som är fast greppad av N agenter . Vi använder feedbacklinjäriseringoch modellreduktion för att minska modellens övergripandekomplexitet. Vi tillhandahåller också ett matematiskt bevis för genomförbarhetoch konvergens av systemen. Slutligen använder vi simuleringaroch experiment för att validera de föreslagna systemens robusthetoch effektivitet.

Place, publisher, year, edition, pages
2018. , p. 138
Series
TRITA-EECS-EX ; 2018:105
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-231841OAI: oai:DiVA.org:kth-231841DiVA, id: diva2:1230321
Supervisors
Examiners
Available from: 2018-07-03 Created: 2018-07-03 Last updated: 2018-07-03Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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