Achieving Consensus of Euler–Lagrange Agents With Interconnecting Delays and Without Velocity Measurements via Passivity-Based Control

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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