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 MoreMetadata
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.
Published in: 2018 IEEE Conference on Decision and Control (CDC)
Date of Conference: 17-19 December 2018
Date Added to IEEE Xplore: 20 January 2019
ISBN Information: