A Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems

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Title:	A Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems
Author:	Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis
Other authors:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
Abstract:	This paper deals with the problem of achieving consensus of multiple interconnected 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 consensus problem in networks of fully-actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. The paper also presents experimental results that provide evidence of the performance of the novel controller
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Automatic control -Passivity-based control -Consensus -Euler-Lagrange Systems -Passivity-based Control -Control automàtic
Rights:	Attribution-NonCommercial-NoDerivs 3.0 Spain http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Document type:	Article - Published version Article
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