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

Autor:	Nuño Ortega, Emmanuel, Sarras, Ioannis, Panteley, Elena, Basañez Villaluenga, Luis
Přispěvatelé:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
Předmět:	Informàtica::Automàtica i control [Àrees temàtiques de la UPC] Control theory Control Teoria de
Zdroj:	Recercat. Dipósit de la Recerca de Catalunya instname UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC)
Popis:	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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::1d1766cae8a60ce457fceb4399ed3655 http://hdl.handle.net/2117/18116 Zobrazit plný text záznamu