Cooperative Passivity-Based Control of Nonlinear Mechanical Systems

In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types. The underlying passivity property of our control approaches ensures that cooperation is...

Cooperative R-passivity based control for mechanical systems

In this work we consider the problem of cooperative end-effector control between heterogeneous fully actuated agents when varying-time delays and/or packet loss are present. We couple agents via outputs encoded with task-space coordinates and velocities that are transformed into wave-variables to overcome the destabilising effects of the...

Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects

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...

Front and rear contact Si solar cells combining high and low thermal budget Si passivating contacts

In this work we develop a rear emitter silicon solar cell integrating carrier-selective passivating contacts (CSPCs) with different thermal budget in the same device. The solar cell consists of a B-doped poly-Si/SiO_x hole collector and an i/n hydrogenated amorphous silicon (a-Si:H) stack acting as electron collector placed on the...