Abstract
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control of such systems in a generic, distributed approach. In this work we extend a recently developed distributed Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method to such systems. More specifically, relying on port-Hamiltonian system modelling for networks of mechanical systems, we propose a full-state stabilization control law for a class of nonholonomic systems within the framework of distributed IDA-PBC. This enables the cooperative control of heterogeneous, underactuated and nonholonomic systems with a unified control law. This control law primarily relies on the notion of Passive Configuration Decomposition (PCD) and a novel, non-smooth desired potential energy function proposed here. A low-level collision avoidance protocol is also implemented in order to achieve dynamic inter-agent collision avoidance, enhancing the practical relevance of this work. Theoretical results are tested in different simulation scenarios in order to highlight the applicability of the derived method.
Original language | English |
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Pages (from-to) | 275-280 |
Journal | IFAC-PapersOnline |
Volume | 54 |
Issue number | 14 |
DOIs | |
Publication status | Published - 2021 |
Event | 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 - Tokyo, Japan Duration: 15 Sept 2021 → 17 Sept 2021 |
Keywords
- Distributed
- IDA-PBC
- Mechanical
- Nonholonomic
- Passivity-Based Control