Cooperative Manipulation of an Unknown Payload with Concurrent Mass and Drag Force Estimation

This is the matlab/simulink code for 2019 CDC paper below

Cite the paper as:

LaTEX

@article{thapa2019cooperative, title={Cooperative Manipulation of an Unknown Payload with Concurrent Mass and Drag Force Estimation}, author={Thapa, Sandesh and Self, Ryan V and Kamalapurkar, Rushikesh and Bai, He}, journal={IEEE Control Systems Letters}, year={2019}, publisher={IEEE} }

APA

Thapa, S., Self, R. V., Kamalapurkar, R., & Bai, H. (2019). Cooperative Manipulation of an Unknown Payload With Concurrent Mass and Drag Force Estimation. IEEE Control Systems Letters, 3(4), 907-912.

Running the code

Please run the following code.

Requirements

• MATLAB/Simulink 2020 a

mkdir LCSS_2019
cd ~/LCSS_2019
mkdir Plots_LCSS 
cd ..
git clone [email protected]:sandeshthapa/LCSS_2019_Concurrent_Learning.git
Run_force_Att_Controller.m 

Please follow the instructions inside the script and run each sub-script once.

Results

Simulation Cases

Go to Force_Att_Controller_Separated.slx

Load -subsystem in simulink

Inside "PayloadForceController" block

change the cases to Constant and Time varying velocities (Case are provded but commented out)

Constant Velocity

Linear Velocity

Drag forces Estimation

Contact force acting on the payload

Time Varying Velocity

Linear Velocity

Drag forces Estimation

Contact force acting on the payload

Contact

[email protected]