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Consensus in Networks of Nonidentical Euler–Lagrange Systems Using P+d Controllers | IEEE Journals & Magazine | IEEE Xplore

Consensus in Networks of Nonidentical Euler–Lagrange Systems Using P+d Controllers


Abstract:

This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consens...Show More

Abstract:

This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can belong to a class of underactuated EL-systems. The network is modeled as a weighted and undirected static interconnection graph that can exhibit asymmetric variable time delays. Simulations, using a network with ten EL-systems, are reported to support the theoretical contributions of this study.
Published in: IEEE Transactions on Robotics ( Volume: 29, Issue: 6, December 2013)
Page(s): 1503 - 1508
Date of Publication: 09 September 2013

ISSN Information:


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