Distributed IDA-PBC for a class of nonholonomic mechanical systems

A. Tsolakis, T. Keviczky

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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 languageEnglish
Pages (from-to)275-280
Issue number14
Publication statusPublished - 2021
Event3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 - Tokyo, Japan
Duration: 15 Sep 202117 Sep 2021


  • Distributed
  • Mechanical
  • Nonholonomic
  • Passivity-Based Control


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