Скачать или смотреть IEEE IECON2025 SYPA Winner - Robust Control for Multi-Robot Manipulation

This video presentation describes the work in the paper titled: Adaptive Super-Twisting Sliding Mode Impedance Control for Cooperative Multi-Robot Manipulation

-Authors
Lucas Wan and Ya-Jun Pan, Department of Mechanical Engineering, Dalhousie University, Halifax, Canada

-Abstract
Cooperative multi-robot manipulation requires control strategies that achieve precise object trajectory tracking and minimize internal object forces under model uncertainties and external disturbances. This paper proposes a distributed adaptive super-twisting sliding mode impedance (STSMI) control framework for cooperative manipulation. The approach integrates adaptive super-twisting sliding mode control with impedance-based force regulation in task space to ensure robustness, compliance, and stability. Quaternion-based control ensures smooth and stable orientation tracking. The proposed controller balances tracking accuracy and internal force minimization compared to conventional controllers. Simulation results with two 7-degree-of-freedom (DOF) manipulators show improved tracking accuracy, reduced internal forces, and adaptability to various configurations. Experimental validation confirms the controller's robustness and real-world applicability.