This article presents a novel approach to controlling multiple manipulators handling a common object using a decomposed architecture that is composed of fuzzy rules. hill decomposition, in a multiple-robot system, requires each link of the robot to be regarded as a subsystem, and hence the controller design for each link becomes a subtask in the overall problem. The difficulty in realizing such an architecture stems from the existence of interconnections between the links. A method is proposed here that separates the interconnections so that the resulting model of a link is split into an isolated subsystem that represents the dynamics of the isolated link and the interconnection subsystems that represent the dynamics of each isolated link in relation to the other links in the system. This model is then used to design a Lyapunov-based fuzzy logic controller for the system by solving linear matrix inequalities. It is shown that this controller is closed-loop stable, and a controller for the system may be designed using bounds.
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