Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements

Taosha Fan, Huan Weng, Todd David Murphey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body based on commonly used local measurements. To the best of our knowledge, this is the first paper addressing the identification problem for 3D rigid body cooperative manipulation, though the approach proposed here applies to the 2D case as well. In this work, we derive truly linear observation models for kinematic and dynamic unknowns whose state-dependent uncertainties can be exactly evaluated. Dynamic consensus in different coordinates and a filter for dual quaternion are developed with which the identification problem can be solved in a distributed way. It can be seen that in our approach all unknowns to be identified are time-invariant constants. Finally, we provide numerical simulation results to illustrate the efficacy of our approach indicating that it can be used for online identification and adaptive control of rigid body cooperative manipulation.
Original languageEnglish (US)
Title of host publicationProceedings of yhe 2017 IEEE 56th Annual Conference on Decision and Control (CDC)
PublisherIEEE
Pages2842-2849
Number of pages8
ISBN (Electronic)9781509028733
ISBN (Print)978-1509028740
DOIs
StatePublished - Jan 18 2018
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: Dec 12 2017Dec 15 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
CountryAustralia
CityMelbourne
Period12/12/1712/15/17

Keywords

  • 3D rigid body
  • Cooperative manipulation
  • distributed identification
  • dual quaternion
  • dynamic consensus

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Control and Optimization

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