Decentralized cooperation control: Non-communication object handling

Two decentralized cooperation controllers are presented for trajectory tracking of two manipulators handling an object. The controllers control positions of the robots distributively by using trajectory errors of the object in the task space. In the first controller, the internal force between the object and the manipulator is controlled only by feedforward of the desired force. The second controller uses a force feedback. No communication is required between the manipulators in the both controllers. Their globally and exponentially asymptotic stability are guaranteed by Lyapunov functions