Distributed control of heterogeneous underactuated mechanical systems

Valk, Laurens; Keviczky, Tamas

doi:10.1016/j.ifacol.2018.12.056

Distributed control of heterogeneous underactuated mechanical systems

Journal article (2018)

Authors

Laurens Valk Student

Tamas Keviczky Team Tamas Keviczky

Research Group

Team Tamas Keviczky

DOI: https://doi.org/10.1016/j.ifacol.2018.12.056

Synchronization Consensus Mechanical systems Distributed control Damping assignment (IDA-PBC) Passivity-based control by interconnection Underactuated systems

To reference this document use:

http://resolver.tudelft.nl/uuid:1a23c081-1008-40b6-82db-b952d4711df9

More Info

expand_more

Published Date

2018

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Research Group

Team Tamas Keviczky

Abstract

We show how passivity-based control by interconnection and damping assignment (IDA-PBC) can be used as a design procedure to derive distributed control laws for undirected connected networks of underactuated and fully-actuated heterogeneous mechanical systems. With or without leaders, agents are able to reach a stationary formation in the coordinate of interest, even if each agent has different dynamics, provided that each agent satisfies three matching conditions for cooperation. If these are satisfied, we show how existing single-system IDA-PBC solutions can be used to construct distributed control laws, thereby enabling distributed control design for a large class of applications. The procedure is illustrated for a network of flexible-joint robots and a network of heterogeneous inverted pendulum-cart systems.

Files

1_s2.0_S2405896318335882_main.... (pdf)

(pdf | 0.546 Mb)

Unknown license