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

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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Submitted on : Friday, June 15, 2018 - 2:16:40 PM
Last modification on : Saturday, May 1, 2021 - 3:48:56 AM

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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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