Distributed Object Transport of Mobile Manipulators with Optimal Manipulable Coordination
作者单位：Beijing Institute of Technology
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by Projects of Major International(Regional)Joint Research Program NSFC(Grant no.61720106011) NSFC(Grant no.61621063,61781340258,61603378) China Postdoctoral Science Foundation(2017M620020) Beijing Advanced Innovation Center for Intelligent Robots and Systems(Beijing Institute of Technology),Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology),Ministry of Education,Beijing,100081,P.R.China
关 键 词：Object transport distributed optimization manipulability primal-dual dynamics
摘 要：This paper addresses a distributed projected control algorithm for networked mobile manipulators to achieve a task of object transport with optimal manipulable coordination between robot arm and mobile platform. The task is designed as a distributed non-convex optimization problem with time-varying coupled equality constraints. To eliminate the time-varying term in the optimization problem, the task variables are first introduced. The non-convex cost function is then proved convex under a sufficient condition by selecting a proper displacement vector. Moreover, a modified Lagrangian function containing local multipliers and a nonsmooth penalty function is constructed to handle the coupled equality constraints in a distributed ***, a fully distributed projected control algorithm is proposed to achieve the object transport task based on the primaldual subgradient dynamics. We prove the convergence of the algorithm utilizing the Lyapunov stability theory and the invariance principle. Under the proposed control algorithm, the object transport is accomplished with optimal manipulable coordination,which is further validated through numerical simulations.