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Leaderless and Leader-Follower Consensus of Euler-Lagrange Agents: Finite-Time Convergence Without Velocity Measurements | IEEE Conference Publication | IEEE Xplore

Leaderless and Leader-Follower Consensus of Euler-Lagrange Agents: Finite-Time Convergence Without Velocity Measurements


Abstract:

This paper deals with the problem of achieving consensus of multiple Euler-Lagrange (EL) systems. Following the energy shaping methodology, we propose a novel decentraliz...Show More

Abstract:

This paper deals with the problem of achieving consensus of multiple Euler-Lagrange (EL) systems. Following the energy shaping methodology, we propose a novel decentralized controller that is capable of solving the leaderless and the leader-follower consensus problems in finite-time in networks of fully-actuated EL-systems without employing velocity measurements. As in the energy shaping methodology, the controller is another EL-system and the plant-controller interconnection is the gradient of a suitable defined potential function. The controller's potential energy and dissipation functions are entitled with some homogeneous properties in order to perform finite-convergence.
Date of Conference: 17-19 December 2018
Date Added to IEEE Xplore: 20 January 2019
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Conference Location: Miami, FL, USA

References

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