Port-Hamiltonian based control for human-robot team interaction

Abstract

In this paper we consider a human commanding the overall behavior of a robot team while the robots are controlled to comply with formation constraints. Such humanrobot team interaction is challenging in terms of system complexity and control synthesis. The port-Hamiltonian framework is suitable for modeling the interconnected systems. We model the robotic team, cooperatively manipulating an object, as a constrained port-Hamiltonian system. Furthermore, we propose a passivity-based control approach in the port-Hamiltonian framework for the cooperative manipulation system guided by the human. The control mechanism is based on the energy shaping for achieving a desired behavior of the formation and its preservation. An energy tank in the cascade is introduced to guarantee passivity of the complete system and safe interaction with humans in the robot environment. We validate the proposed approach with simulation and experiments.

Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach

“…In this paper, we focus our attention on large-scale networks of nonlinear port-Hamiltonian (pH) systems. Many large-scale engineering applications, such as voltage and frequency control in islanded AC microgrids , swarms of robots (Angerer et al, 2017), and UAVs (Fahmi and Woolsey, 2021;Muñoz et al, 2013;Mersha et al, 2011), can be modeled as networks of coupled pH systems. Classical methods for stabilization of pH systems around desired equilibria include Passivity-Based Control (PBC) and Control by Interconnection (CbI) (Ortega et al, 2008;Van der Schaft, 2000), and energy-based control via Casimir functions and damping assignment, e.g., Guo and Cheng (2006).…”

A variable rest length impedance grasping strategy in the port-Hamiltonian framework

“…In addition, an impedance control design methodology in the PH framework with Casimir functions is proposed by [17], where the input of the mechanical system is different from the standard case, i.e., it is not a torque but a fluid flow. More recently, in [24] a variable stiffness coefficient for virtual springs is the key strategy for grasping and manipulation via a port-Hamiltonian framework. Furthermore, an energy-balancing passivity-based impedance control strategy is applied to an unmanned aerial vehicle in [25] where both motion and interation control is achieved with the key playing role of a virtual spring stiffness.…”

Passive noninteracting control for human-robot team interaction

“…The control of complex dynamical systems with the human in the loop and interaction with the environment is relevant in many application domains, e.g. process control, flight control, and human-robot team interaction [1], [2], to name just a few. Typically, multiple control objectives are defined for such systems in order to accomplish an overall task.…”

“…Therefore, it is important for the human-in-the-loop interaction, e.g. teleoperation through a haptic device [14], direct physical interaction, close-range teleoperation [2], and interactions of the robots with environment [15]. Passivity also relates to the classical approaches of analyzing stability of dynamical systems, e.g.…”