Distributed Control of Underactuated and Heterogeneous Mechanical Systems: Using Passivity-Based Control by Interconnection and Damping Assignment as a Tool for Distributed Control Design and Human-Machine Interaction

Passivity-based control is a well-established technique for coordinating groups of fully-actuated systems, but existing methods for underactuated systems are limited to groups of homogeneous systems, coordinate synchronization tasks, and to specific applications. We propose a generic distributed control method that enables heterogeneous groups...