Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems. Issue 14 (2021)

• Record Type: Journal Article
• Authors: Tsolakis, A.; Keviczky, T.
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 14(2021)
• Page Start: 275
• Page End: 280
• Publication Date: 2021
• Subjects: Distributed -- Passivity-Based Control -- IDA-PBC -- Nonholonomic -- Mechanical; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.10.365
• Languages: English
• ISSNs: 2405-8963

Abstract

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.