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

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.

Domains: Computer Science [cs]; Automatic Control Engineering; Engineering Sciences [physics]; Automatic

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, 2018, 26 (1), pp.222-232. ⟨10.1109/TCST.2017.2661822⟩. ⟨hal-01816583⟩