Cooperative Transportation of Mobile Manipulators with Collision Avoidance
Tid: On 2018-05-16 kl 17.00 - 18.00
Plats: Seminar room (Rumsnr: A:641), Osquldas väg 10, Q-huset, våningsplan 6, KTH Campus
Medverkande: Yu Wang
Opponent: Tengfan Lin
Handledare: Alexandros Nikou and Christos Verginis.
Abstract: Two Nonlinear Model Predictive Control (NMPC) schemes, Decentralized Nonlinear Model Predictive Control (DNMPC) and Centralized Nonlinear Model Predictive Control (CNMPC), are proposed for cooperative transportation of an object, which is rigidly grasped by N agents. Feedback linearization and model reduction are used to reduce the overall complexity of the model. A mathematical proof for feasibility and convergence of the schemes is provided. Simulation and experiment results validate the robustness and efficiency of the proposed schemes.
Examiner: Prof. Dimos Dimarogonas