Print Email Facebook Twitter Cooperative r-Passivity-Based Control Title Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects Author de Groot, Oscar (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Keviczky, Tamas (mentor) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Systems and Control Date 2019-12-05 Abstract In this work we consider the problem of cooperative formation control between heterogeneous agents when time-varying delays and/or packet loss are present. Specifically, we introduce a control law for nonlinear fully actuated mechanical agents that separates the cooperative coordinates from the local coordinates, which removes the necessity for scenario-dependent tuning. The cooperative outputs encode task-space coordinates and velocities which are transformed into wave-variables to overcome the destabilising effects of the communication network. The cooperative agent couplings incorporate task-space constraints such as collision- and singularity avoidance, while ensuring performance in arbitrary workspaces. The proposed approach improves robustness of existing methods against network effects, and allows to expand their application scope by the inclusion of constraints and nonlinear dynamics. In addition, our approach is scalable by design, and simplifies the tuning task considerably. We demonstrate the efficacy of the proposed approach experimentally. Subject Formation ControlCollision AvoidancePassivity-Based ControlCooperative ControlScattering Transformation To reference this document use: http://resolver.tudelft.nl/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57 Part of collection Student theses Document type master thesis Rights © 2019 Oscar de Groot Files PDF MSc_Thesis_Oscar_de_Groot ... 282353.pdf 3.3 MB Close viewer /islandora/object/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57/datastream/OBJ/view