Consensus in Networks of Nonidentical Euler-Lagrange Systems Using P plus d Controllers

被引：88

作者：

Nuno, Emmanuel ^{[1
]}

Sarras, Ioannis ^{[2
]}

Basanez, Luis ^{[3
]}

机构：

[1] Univ Guadalajara, Dept Comp Sci, Guadalajara 44100, Jalisco, Mexico

[2] IFP Energies Nouvelles, Dept Control Signal & Syst, F-92852 Rueil Malmaison, France

[3] Tech Univ Catalonia, Inst Ind & Control Engn, Barcelona 08028, Spain

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2013年 / 29卷 / 06期

关键词：

Consensus; proportional plus damping (P plus d) controllers; time-delays; ROBOTIC MANIPULATORS; SWITCHING TOPOLOGY; TIME-DELAY; SYNCHRONIZATION; TELEOPERATORS; ALGORITHMS; TRACKING;

D O I：

10.1109/TRO.2013.2279572

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：1503 / 1509

页数：8

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