Journal
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
Volume 6, Issue 2, Pages 690-701Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCNS.2018.2873153
Keywords
Cooperative manipulation; multi-robot systems; networked control systems; observers; parameter estimation
Funding
- Agence Nationale de la Recherche (ANR) [ANR-17-CE33-0007 MuRoPhen]
- Siebel Energy Institute
- Compagnia di San Paolo
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We present two distributed methods for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown planar body manipulated by a decentralized multiagent system. The proposed approaches rely on the rigid body kinematics and dynamics, on nonlinear observation theory, and on consensus algorithms. The only three requirements are that each agent can exert a 2-D wrench on the load, it can measure the velocity of its contact point, and that the communication graph is connected. Both theoretical nonlinear observability analysis and convergence proofs are provided. The first method assumes constant parameters, while the second one can deal with time-varying parameters and can be applied in parallel to any task-oriented control law. For the cases in which a control law is not provided, we propose a distributed and safe control strategy satisfying the observability condition. The effectiveness and robustness of the estimation strategy are showcased by means of realistic Monte Carlo simulations.
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