Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems

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 in generic, distributed approach. In this work we extend recently developed Interconnection Damping Assignment Passivity-Based Control (IDA-PBC) method to systems. More specifically, relying port-Hamiltonian system modelling for networks systems, propose full-state stabilization law nonholonomic within framework IDA-PBC. This enables heterogeneous, underactuated with unified law. primarily relies notion Passive Configuration Decomposition (PCD) novel, non-smooth desired potential energy function proposed here. A low-level collision avoidance protocol is also implemented order achieve dynamic inter-agent avoidance, enhancing practical relevance work. Theoretical are tested different simulation scenarios highlight applicability derived method.