Cooperative r-Passivity-Based Control

Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects

de Groot, Oscar (TU Delft Mechanical, Maritime and Materials Engineering)

Keviczky, Tamas (mentor)

Delft University of Technology

Mechanical Engineering | Systems and Control

2019-12-05

In this work we consider the problem of cooperative formation control between heterogeneous agents when time-varying delays and/or packet loss are present. Specifically, we introduce a control law for nonlinear fully actuated mechanical agents that separates the cooperative coordinates from the local coordinates, which removes the necessity for scenario-dependent tuning. The cooperative outputs encode task-space coordinates and velocities which are transformed into wave-variables to overcome the destabilising effects of the communication network. The cooperative agent couplings incorporate task-space constraints such as collision- and singularity avoidance, while ensuring performance in arbitrary workspaces. The proposed approach improves robustness of existing methods against network effects, and allows to expand their application scope by the inclusion of constraints and nonlinear dynamics. In addition, our approach is scalable by design, and simplifies the tuning task considerably. We demonstrate the efficacy of the proposed approach experimentally.

Formation Control
Collision Avoidance
Passivity-Based Control
Cooperative Control
Scattering Transformation

http://resolver.tudelft.nl/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57

Student theses

master thesis

© 2019 Oscar de Groot