Cooperative Passivity-Based Control of Nonlinear Mechanical Systems
In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types. The underlying passivity property of our contr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-10-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/5/142 |