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Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers
Nuño, Emmanuel; Sarras, Ioannis; 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
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.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Mobile robots -- Automatic control
Consensus
proportional plus damping (P plus d) controllers
time-delays
Robots mòbils -- Control automàtic
info:eu-repo/semantics/publishedVersion
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