Vector Field Based Adaptive Control for Collaborative Manipulation

Abstract

This paper introduces a methodology for computing artificial vector fields designed to ensure the convergence and circulation of trajectories to a curve in the pose space. Extending the work from Rezende et al. (2022) to incorporate orientations, we define a normal vector that asymptotically guides a trajectory to the desired curve, and a tangent vector that ensures circulation. By employing this vector field methodology, we achieve an autonomous closed-loop system with integrated path planning and control. Our approach is applied within a decentralized adaptive control to guide a rigid body with unknown parameters using a team of agents, ensuring compliance with a target pose curve.