Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" altimg="si5.gif" display="inline" overflow="scroll"><mml:msub><mml:mrow><mml:mi>L</mml:mi></mml:mrow><mml:mrow><mml:mn>2</mml:mn></mml:mrow></mml:msub></mml:math>-gain performance analysis

Andaluz, Víctor H.; Robertí, Flavio; Carelli, Ricardo; Toibero, Juan Marcos; Carelli, Ricardo

doi:10.1016/j.robot.2014.12.009

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Cited by 14 publications

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Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators

Molina

Ortiz

2018

Social Robotics

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This paper proposes a multilayer scheme for the cooperative control of 2 n  heterogeneous mobile manipulators that allows to transport an object in common in a coordinated way; for which the kinematic modeling of each mobile manipulator robot is performed. Stability and robustness are demonstrated using the Lyapunov theory in order to obtain asymptotically stable control. Finally, the results are presented to evaluate the performance of the proposed control, which confirms the scope of the controller to solve different movement problems.

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