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

E. Nuno; Roméo Ortega

doi:10.1109/TCST.2017.2661822

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

Domain :

Computer Science [cs] / Automatic Control Engineering

Engineering Sciences [physics] / Automatic

Liste complète des métadonnées

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

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

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

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