Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems

Authors

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.

Keywords

Distributed; Passivity-Based Control; IDA-PBC; Nonholonomic; Mechanical

Citation

Journal: IFAC-PapersOnLine
Year: 2021
Volume: 54
Issue: 14
Pages: 275–280
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2021.10.365
Note: 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021- Tokyo, Japan, 15-17 September 2021

BibTeX

@article{Tsolakis_2021,
  title={{Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems}},
  volume={54},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2021.10.365},
  number={14},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Tsolakis, A. and Keviczky, T.},
  year={2021},
  pages={275--280}
}

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References

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