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.

Original languageEnglish
Pages (from-to)325-330
Issue number23
Publication statusPublished - 2018
Event7th IFAC Workshop on Distributed Estimation and Control in Networked
- Groningen, Netherlands
Duration: 27 Aug 201828 Aug 2018

    Research areas

  • consensus, damping assignment (IDA-PBC), Distributed control, mechanical systems, passivity-based control by interconnection, synchronization, underactuated systems

ID: 47963385