DWELL TIME SWITCHING CONTROL FOR COOPERATIVE WORK OF TWO MOBILE MANIPULATORS

摘要

We propose a new switching control methodology for cooperative work of two mobile manipulators. For the purpose of controlling these multiple nonlinear systems with constraints, it is effective to use multiple controllers and switch them optimally by the supervisory system. An introduction of dwell time is useful in designing the controller. We developed a sophisticated software program to design a switching control system and also to operate the real system directly in consideration of constraints. Finally, we will demonstrate the effectiveness of the system by simulations and experiments.