Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays

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dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.author	Nuño Ortega, Emmanuel
dc.contributor.author	Sarras, Ioannis
dc.contributor.author	Panteley, Elena
dc.contributor.author	Basañez Villaluenga, Luis
dc.date	2012
dc.identifier.citation	Nuño, E. [et al.]. Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays. A: IEEE Conference on Decision and Control. "Proc. 51st IEEE Conference on Decision and Control". Maui, Hawaii: 2012, p. 4721-4726.
dc.identifier.citation	978-1-4673-2065-8
dc.identifier.uri	http://hdl.handle.net/2117/18116
dc.language.iso	eng
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject	Control theory
dc.subject	Control, Teoria de
dc.title	Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	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.

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