Cooperative Manipulation of an Unknown Payload with Concurrent Mass and Drag Force Estimation
Published in IEEE Control Systems Letters (L-CSS), with CDC presentation option, 2019
Recommended citation: Thapa S., Self R., Bai H., Kamalapurkar R. "Cooperative Manipulation of an Unknown Payload with Concurrent Mass and Drag Force Estimation." IEEE Control Systems Letters (L-CSS), 2019. https://ieeexplore.ieee.org/abstract/document/8725526
Concurrent-learning adaptive control for a multi-robot team transporting an unknown payload, enabling real-time estimation of payload mass and drag with guaranteed parameter convergence under relaxed persistent-excitation requirements.