Consensus in networks of nonidentical euler-lagrange systems using P+d controllers
- Nuno, E.
- Sarras, I.
- Basanez, L.
Publication date
January 2013
DOI Publisher
Institute of Electrical and Electronics Engineers (IEEE)Abstract
This paper presents a proportional plus damping controller that can asymptotically drive a network composed ofNnonidenticalEuler-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. � 2013 IEEE
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