Authors

Emmanuel Nuno, Romeo Ortega

Abstract

This paper deals with the problem of achieving consensus of multiple Euler–Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel decentralized controller that is capable of solving the leaderless and the leader–follower consensus problems in networks of fully actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. This paper also presents a comparative simulation study with different controllers and provides experimental evidence of the performance of the novel controller.

Citation

  • Journal: IEEE Transactions on Control Systems Technology
  • Year: 2018
  • Volume: 26
  • Issue: 1
  • Pages: 222–232
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • DOI: 10.1109/tcst.2017.2661822

BibTeX

@article{Nuno_2018,
  title={{Achieving Consensus of Euler–Lagrange Agents With Interconnecting Delays and Without Velocity Measurements via Passivity-Based Control}},
  volume={26},
  ISSN={1558-0865},
  DOI={10.1109/tcst.2017.2661822},
  number={1},
  journal={IEEE Transactions on Control Systems Technology},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Nuno, Emmanuel and Ortega, Romeo},
  year={2018},
  pages={222--232}
}

Download the bib file

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