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Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays

par Nuno, Emmanuel;Sarras, Ioannis ;Panteley, Elena;Basañez, Luis
Référence Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes, page (4721-4726), 6426169
Publication Publié, 2012

Article révisé par les pairs

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Résumé :

The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional plus damping (P+d) schemes and the interconnection network is modeled as an undirected weighted graph. Additionally, for the case without delays, the paper reports a new Strict Lyapunov Function (SLF) for the closed-loop system. Experimental evidence, using three 3-Degrees-of-Freedom manipulators interconnected through the Internet, support the theoretical results of this paper. © 2012 IEEE.