Consensus in Networks of Nonidentical Euler-Lagrange Systems Using P+d Controllers

This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can belong to a class of underactuated EL-systems. The network is modeled as a weigh...

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Bibliographic Details
Published inIEEE transactions on robotics Vol. 29; no. 6; pp. 1503 - 1508
Main Authors Nuno, Emmanuel, Sarras, Ioannis, Basanez, Luis
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.2013
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Asymptotic methods
Consensus
Controllers
Damping
Delays
Eulers equations
Manipulators
proportional plus damping (P+d) controllers
Robot kinematics
Robotics
Simulation
time-delays
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Summary:This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can belong to a class of underactuated EL-systems. The network is modeled as a weighted and undirected static interconnection graph that can exhibit asymmetric variable time delays. Simulations, using a network with ten EL-systems, are reported to support the theoretical contributions of this study.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2013.2279572