Cooperative Transportation of Mobile Manipulators With Collision Avoidance
In this work, we propose two Nonlinear Model Predictive Control(NMPC) schemes, Decentralized Nonlinear Model Predictive Control(DNMPC) and Centralized Nonlinear Model Predictive Control (CNMPC),for cooperative transportation of an object, which is rigidlygrasped by N agents. We use feedback lineariz...
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| Format: | Others |
| Language: | English |
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KTH, Reglerteknik
2018
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-231841 |