Cooperation and Coordination Transportation for Nonholonomic Mobile Manipulators: A Distributed Model Predictive Control Approach

This article addresses the problem of cooperation and coordination transportation for decoupling nonholonomic mobile manipulators (NMMs) in a workspace with obstacles. We propose a distributed model predictive control (MPC) approach for a team of NMMs to transport a target object while satisfying si...

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Bibliographic Details
Published in:	IEEE transactions on systems, man, and cybernetics. Systems Vol. 53; no. 2; pp. 848 - 860
Main Authors:	Qin, Dongdong, Wu, Jinhui, Liu, Andong, Zhang, Wen-An, Yu, Li
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.02.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Barriers Closed loops Constraints Cooperation Cooperation and coordination transportation Coordination Cost function Decoupling distributed model predictive control (MPC) End effectors Feedback control Force general projection neural network (GPNN) Manipulator dynamics Manipulators Mathematical models modified virtual structure Neural networks nonholonomic mobile manipulators (NMMs) Nonlinear feedback Optimal control Optimization Parameters Predictive control Synchronism Synchronization Task analysis Torque Tracking control Transportation Transportation problem Workspace
ISSN:	2168-2216, 2168-2232
Online Access:	Get full text
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