2021/12/02 by Enrica Rossi, Rossi, Enrica, Marco Tognon +7
Biochemistry, Genetics and Molecular Biology · Computer Science · Engineering · #93A16 #Advanced Control Systems Optimization #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #Gene Regulatory Network Analysis #Multiagent Systems (cs.MA) #Robotics (cs.RO) #Stability and Control of Uncertain Systems
paper · pdf · doi:10.48550/arxiv.2112.01107
openalex publication_date 2021/12/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration can be obtained by different configurations of the robots. The objective of this work is to show that communication can be used to implement cooperative local feedback controllers in the robots to improve disturbance rejection and reduce structural stress in the object. In particular we consider the realistic scenario where measurements are sampled and transmitted over wireless, and the sampling period is comparable with the system dynamics time constants. We first propose a kinematic model which is consistent with the overall systems dynamics under high-gain control and then we provide sufficient conditions for the exponential stability and monotonic decrease of the configuration error under different norms. Finally, we test the proposed controllers on the full dynamical systems showing the benefit of local communication.