Adaptive coordinated control of multi-mobile manipulator systems
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Bibliographic record
Abstract
This paper presents an adaptive coordinated control scheme for multiple mobile manipulator robots (MMR) moving a rigid object in coordination. The dynamic parameters of the object handled and of the mobile manipulators are considered unknown but constant. The control law and the adaptation of uncertain parameters are designed using the virtual decomposition (VDC) approach. This control approach was originally applied to multiple manipulator robot systems. The proposed control design ensures that the position error in the workspace converges to zero, and that the external force error is bounded. The global stability of the system using VDC is proven through the virtual stability of each subsystem. Numerical simulations and an experimental validation are carried out for two mobile manipulators transporting an object, and are compared with the results obtained using the computed torque approach in order to show the effectiveness of the proposed controller.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it