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Trajectory tracking based on containment algorithm applied to a formation of mobile manipulators

Abstract:

This paper presents a distributed control for the formation control of mobile manipulators. We use a mobile manipulator model that can be separated in a kinematic and a dynamic component. For the kinematic component (formation control), we propose a distributed containment algorithm with a smooth function to avoid the chattering phenomenon, which provides control actions applicable in real robots. For the dynamic component, a controller based on the compensation of the dynamic forces and torques is applied. The structure of the formation is given by: a group of virtual leaders, which are used as references and to delimit the physic boundaries, and a group of follower robots. The distribution of the followers is determined by a Laplacian matrix, which is built based on the desired positions of the robots inside the convex hull formed by the virtual leaders. To validate the designed controllers, a simulation of formation and tracking trajectory of 8 mobile manipulators is performed, considering as reference, a sinusoid in each coordinate axis.