Distributed formation control of networked mechanical systems

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a...

Overcoming the dissipation obstacle with bicomplex port-hamiltonian mechanics

The dissipation obstacle refers to the problem that there is no general solution to shape the energy of dissipative port-Hamiltonian (pH) systems with the method of Casimir functions. This paper argues that it is caused by lack of a strictly symplectic structure of a dissipative port-Hamiltonian system. We develop a method of bicomplex pH...

Port-Hamiltonian description and analysis of the LuGre friction model

A port-Hamiltonian formulation of the LuGre friction model is presented that can be used as a building block in the physical modelling of systems with friction. Based on the dissipation structure matrix of this port-Hamiltonian LuGre model, an alternative proof can be given for the passivity conditions that are known in the literature. As a...