Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems

TL;DR

This paper extends a distributed passivity-based control method to nonholonomic mechanical systems, enabling cooperative control of heterogeneous robotic systems with collision avoidance, demonstrated through simulations.

Contribution

It introduces a novel distributed IDA-PBC approach for nonholonomic systems using port-Hamiltonian modeling and Passive Configuration Decomposition.

Findings

Effective stabilization control law for nonholonomic systems

Unified control law for heterogeneous systems

Successful simulation validation

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.