Achieving consensus of Euler-Lagrange agents with interconnecting delays and without velocity measurements via passivity-based control

E. Nuno Roméo Ortega 1
1 L2S - Laboratoire des signaux et systèmes
Abstract : This paper deals with the problem of achieving consensus of multiple 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 and the leader-follower consensus problems in networks of fully actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. This paper also presents a comparative simulation study with different controllers and provides experimental evidence of the performance of the novel controller.
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Article dans une revue
IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2018, 26 (1), pp.222-232. 〈10.1109/TCST.2017.2661822〉
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01816583
Contributeur : Myriam Baverel <>
Soumis le : vendredi 15 juin 2018 - 14:16:40
Dernière modification le : lundi 26 novembre 2018 - 16:36:36

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CENTRALESUPELEC | SUP_LSS | SUP_SYSTEMES | TDS-MACS | L2S | UNIV-PARIS-SACLAY

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E. Nuno, Roméo Ortega. Achieving consensus of Euler-Lagrange agents with interconnecting delays and without velocity measurements via passivity-based control. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2018, 26 (1), pp.222-232. 〈10.1109/TCST.2017.2661822〉. 〈hal-01816583〉

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