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Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays
Nuño Ortega, Emmanuel; Sarras, Ioannis; Panteley, Elena; Basañez Villaluenga, Luis
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Robòtica Industrial i Servei
The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional plus damping (P+d) schemes and the interconnection network is modeled as an undirected weighted graph. Additionally, for the case without delays, the paper reports a new Strict Lyapunov Function (SLF)for the closed-loop system. Experimental evidence, using three 3-Degrees-of-Freedom manipulators interconnected through the Internet, support the theoretical results of this paper.
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Control theory
Control, Teoria de
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