Distributed IDA-PBC for a class of nonholonomic mechanical systems

Distributed IDA-PBC for a class of nonholonomic mechanical systems

Tsolakis, A. (TU Delft Mechanical, Maritime and Materials Engineering)
Keviczky, T. (TU Delft Team Tamas Keviczky)

Mechanical, Maritime and Materials Engineering

2021

Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control of such systems in a generic, distributed approach. In this work we extend a recently developed distributed Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method to such systems. More specifically, relying on port-Hamiltonian system modelling for networks of mechanical systems, we propose a full-state stabilization control law for a class of nonholonomic systems within the framework of distributed IDA-PBC. This enables the cooperative control of heterogeneous, underactuated and nonholonomic systems with a unified control law. This control law primarily relies on the notion of Passive Configuration Decomposition (PCD) and a novel, non-smooth desired potential energy function proposed here. A low-level collision avoidance protocol is also implemented in order to achieve dynamic inter-agent collision avoidance, enhancing the practical relevance of this work. Theoretical results are tested in different simulation scenarios in order to highlight the applicability of the derived method.

Distributed
IDA-PBC
Mechanical
Nonholonomic
Passivity-Based Control

http://resolver.tudelft.nl/uuid:be3e288e-f4d2-4a04-8095-44e98ac94439

https://doi.org/10.1016/j.ifacol.2021.10.365

1474-6670

IFAC-PapersOnLine, 54 (14), 275-280

3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021, 2021-09-15 → 2021-09-17, Tokyo, Japan

Institutional Repository

journal article

© 2021 A. Tsolakis, T. Keviczky