Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers

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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, Emmanuel
dc.contributor.author	Sarras, Ioannis
dc.contributor.author	Basañez Villaluenga, Luis
dc.date	2013-12
dc.identifier.citation	Nuño, E.; Sarras, I.; Basañez, L. Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers. "IEEE transactions on robotics", Desembre 2013, vol. 29, núm. 6, p. 1503-1509.
dc.identifier.citation	1552-3098
dc.identifier.citation	10.1109/TRO.2013.2279572
dc.identifier.uri	http://hdl.handle.net/2117/22306
dc.language.iso	eng
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Mobile robots -- Automatic control
dc.subject	Consensus
dc.subject	proportional plus damping (P plus d) controllers
dc.subject	time-delays
dc.subject	Robots mòbils -- Control automàtic
dc.title	Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/article
dc.description.abstract	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.

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