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  • 标题:A Passivity-based Controller without Velocity Measurements for the Leaderless Consensus of Euler-Lagrange Systems
  • 本地全文:下载
  • 作者:Emmanuel Nuño ; Romeo Ortega ; Luis Basañez
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2017
  • 卷号:50
  • 期号:1
  • 页码:15452-15457
  • DOI:10.1016/j.ifacol.2017.08.1880
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThis paper deals with the problem of achieving consensus of multiple interconnected Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel decentralized controller that is capable of solving the leaderless consensus problem in networks of fully-actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. The paper also presents experimental results that provide evidence of the performance of the novel controller.
  • 关键词:KeywordsConsensusEuler-Lagrange SystemsPassivity-based Control
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