| Abstract: | This paper is concerned with the control problem of a multi-robot system handling a common payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed to cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first is to detect the roots that need help and the second to arrange for help. It is shown that the overall system is robust to uncertain payload parameters, and satisfies the force constraints. |
