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.
Document type :
Journal articles
Complete list of metadatas
https://hal-centralesupelec.archives-ouvertes.fr/hal-01816583
Contributor : Myriam Baverel <>
Submitted on : Friday, June 15, 2018 - 2:16:40 PM
Last modification on : Monday, November 26, 2018 - 4:36:36 PM

Identifiers

Collections

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

Citation

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⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

177

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD