Passive decomposition of multiple mechanical systems under coordination requirements

Dongjun Lee, Perry Y Li

Research output: Contribution to journalConference articlepeer-review

21 Scopus citations

Abstract

We propose a general control framework for multiple mechanical systems interacting with environments and/or humans under coordination requirements. The key innovation is the passive decomposition which enables us to achieve the two requirements of such systems simultaneously: motion coordination and energetic passivity of the closed-loop system. It decomposes the system dynamics into shape system addressing the coordination aspect, locked system representing overall dynamics of the coordinated system, and dynamic couplings between the locked and shape systems. The dynamic couplings can be cancelled out without violating passivity. Thus, the coordination aspect (shape system) and the dynamics of the coordinated system (locked system) can be decoupled from each other while enforcing passivity. Also, by designing the locked and shape controls to enforce passivity of their respective systems, passivity of the closed-loop system is guaranteed. We analyze and exhibit geometry of the passive decomposition and the locked and shape systems.

Original languageEnglish (US)
Pages (from-to)1240-1245
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2
StatePublished - Dec 1 2004
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: Dec 14 2004Dec 17 2004

Fingerprint Dive into the research topics of 'Passive decomposition of multiple mechanical systems under coordination requirements'. Together they form a unique fingerprint.

Cite this