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