Title:
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Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers
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Author:
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Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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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. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Mobile robots -- Automatic control -Consensus -proportional plus damping (P plus d) controllers -time-delays -Robots mòbils -- Control automàtic |
Rights:
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Document type:
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Article - Published version Article |
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