Cooperative R-passivity based control for mechanical systems

O. de Groot*, T. Keviczky

*Corresponding author for this work

Research output: Contribution to journalConference articleScientificpeer-review

1 Citation (Scopus)
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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 communication network. The scheme poses dynamic requirements on the agents which are locally satisfied with feedback control that integrates subtasks, such as joint-limit avoidance or local tracking, when there are redundant degrees-of-freedom. The proposed approach extends existing methods to task-space control. The approach is robust to network effects, applies to nonlinear systems and is scalable by design. The tuning task is simplified considerably by separation of the cooperative and non-cooperative control terms. We demonstrate the efficacy of the proposed approach experimentally.

Original languageEnglish
Pages (from-to)3476-3481
Volume53 (2020)
Issue number2
Publication statusPublished - 2021
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020


  • Co-operative control
  • Navigation functions
  • Nonlinear control
  • Passivity-Based Control
  • R-Passivity
  • Scattering
  • Time-delays

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