Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems

Tsolakis, Anastasios; Keviczky, Tamás

doi:10.1016/j.ifacol.2021.10.365

Cited by 7 publications

(4 citation statements)

References 13 publications

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“…To this end, we will exploit a concept that is known as the passive output in the context of passivity-based control [29]. Consider the following vector function linear in the velocity ẏ = A T (q) q, which is called the passive output because (1) is passive with respect to the pair (u, ẏ), with the storage function being the system Hamiltonian (see Appendix A).…”

Section: Collocated Lagrangian Systemsmentioning

confidence: 99%

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Pustina,

Santina,

Boyer

et al. 2024

IEEE Trans. Robot.

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Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? Not only we show that the answer to this question is yes, but we also provide necessary and sufficient conditions. More specifically, we look for a representation of the configuration space such that the right-hand side of the dynamics in Euler-Lagrange form becomes [I O] T u, being u the system input. We identify a class of systems, called collocated, for which this problem is solvable. Under mild conditions on the input matrix, a simple test is presented to verify whether a system is collocated or not. By exploiting power invariance, we provide necessary and sufficient conditions that a change of coordinates decouples the input channels if and only if the dynamics is collocated. In addition, we use the collocated form to derive novel controllers for damped underactuated mechanical systems. To demonstrate the theoretical findings, we consider several Lagrangian systems with a focus on continuum soft robots.

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Section: Collocated Lagrangian Systemsmentioning

confidence: 99%

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Pustina,

Santina,

Boyer

et al. 2024

IEEE Trans. Robot.

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“…The design of distributed control law in ( 5) is inspired by the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method as presented in [23]. The topic of non-adaptive distributed implementation of IDA-PBC for heterogeneous, underactuated, and non-holonomic systems has been explored in a recent study [24]. By employing the IDA-PBC approach, the closed-loop systems' Hamiltonian function, interconnection, and damping matrices can be shaped by the assignment of suitable control laws.…”

Section: Distance-based Distributed Formation Controlmentioning

confidence: 99%

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space

Rosa

Jayawardhana

2023

IEEE Control Syst. Lett.

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We propose distance-based distributed adaptive formation control of point mass agents in port-Hamiltonian (pH) framework that can deal with parameter uncertainties and with mixed dimensional space (2D, 3D or mixed 2D/3D). Adaptive control mechanism is subsequently proposed to maintain formation of uncertain pH systems with unknown damping parameters. Numerical simulations are presented for both known and uncertain point mass agents in mixed 2D/3D space.

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“…As exposed in Ortega et al (2002), a control design methodology adequate to stabilize complex mechanical systems represented as pH systems is the socalled interconnection and damping assignment passivitybased control (IDA-PBC) approach. In Valk and Keviczky (2018); Tsolakis and Keviczky (2021), the authors adopt this approach to solve the stabilization problem for a class of networks of mechanical systems. Regarding the trajectory-tracking problem, the notion of contractive pH systems is used in Yaghmaei and Yazdanpanah (2017) to develop a tracking version of IDA-PBC, named timed IDA-PBC (tIDA-PBC).…”

Section: Introductionmentioning

confidence: 99%

“…We stress that compared with the centralized controller reported in Javanmardi et al (2020), this work proposes a distributed controller suitable for solving the SFF problem. Moreover, in contrast to Valk and Keviczky (2018), Tsolakis and Keviczky (2021), where only stabilization is investigated, this paper addresses the trajectory-tracking problem while assessing the performance of the large-scale networked system. In this regard, this work differs from Dunbar and Caveney (2011); Barooah et al (2009)…”

Section: Introductionmentioning

confidence: 99%

Distributed formation control of networked mechanical systems

Javanmardi¹,

Borja²,

Yazdanpanah³

et al. 2022

Preprint

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This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

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Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems

Cited by 7 publications

References 13 publications

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space

Distributed formation control of networked mechanical systems

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