@conference{
	11580_71252,
	author = {Marino, Alessandro and Chiacchio, Pasquale},
	title = {Task-oriented decentralized adaptive control of cooperative manipulators},
	year = {2016},
	publisher = {IEEE},
	booktitle = {IEEE International Conference on Robotics and Biomimetics},
	abstract = {In this paper, the decentralized control in task
space of cooperative mobile arms with uncertain dynamics
is considered. The cooperative task is specified by means of
proper task-oriented variables depending on the end-effector
configurations of all the arms in the team. Therefore, because of
the lack of a centralized control unit, a two-layer architecture
is proposed. At the first level, each arm controller runs a
distributed observer in order to estimate the overall state of the
system. At the second level, this estimate is used to compute the
local control input in order to achieve the global cooperative
task. Moreover, the dynamic parameters of the arms might
not be perfectly known, thus the local control law has to be
made adaptive in order to counteract this uncertainty. The
approach was validated by simulation with 6-DOFs serial chain
manipulators mounted on a mobile platform and performing
a cooperative task.},
	keywords = {Networked Robots; Distributed control; Cooperative robots.},
	url = {http://ieeexplore.ieee.org/document/7866510/},
	doi = {10.1109/ROBIO.2016.7866510},
	isbn = {9781509043644},	
	pages = {1325--1330}
}

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