Distributed IDA-PBC for Nonholonomic Mechanical Systems

Distributed IDA-PBC for Nonholonomic Mechanical Systems

Tsolakis, Anastasios (TU Delft Mechanical, Maritime and Materials Engineering)

Keviczky, T. (mentor)
Ferranti, L. (graduation committee)
Reppa, V. (graduation committee)
de Groot, O.M. (graduation committee)

Delft University of Technology

Mechanical Engineering | Systems and Control

2021-01-15

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 \ac{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 \ac{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 and a novel, non-smooth control law proposed here. A low-level collision avoidance protocol based on the \ac{APF} method 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.

distributed
ida-pbc
passivity
nonholonomic
constraints
mechanical
systems
stabilization
cooperative
nonlinear control
energy-based
control

http://resolver.tudelft.nl/uuid:ff9817f6-9bc9-4c15-85a7-1f1182f135b8

Student theses

master thesis

© 2021 Anastasios Tsolakis