- document
-
Valk, Laurens (author), Keviczky, T. (author)We show how passivity-based control by interconnection and damping assignment (IDA-PBC) can be used as a design procedure to derive distributed control laws for undirected connected networks of underactuated and fully-actuated heterogeneous mechanical systems. With or without leaders, agents are able to reach a stationary formation in the...journal article 2018