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Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers

Autor
Nuño, E.; Sarras, I.; Basañez, L.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2013-12
Volum
29
Número
6
Pàgina inicial
1503
Pàgina final
1509
DOI
https://doi.org/10.1109/TRO.2013.2279572 Obrir en finestra nova
Projecte finançador
Sincronización y teleoperación con interacción visual 3D de redes de manipuladores móviles y robots con articulaciones flexibles
Sistemas Multi-mano para tareas complejas de manipulación robotizada
Repositori
http://hdl.handle.net/2117/22306 Obrir en finestra nova
Resum
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 contribution...
Citació
Nuño, E.; Sarras, I.; Basañez, L. Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers. "IEEE transactions on robotics", Desembre 2013, vol. 29, núm. 6, p. 1503-1509.
Paraules clau
Consensus, proportional plus damping (P plus d) controllers, time-delays
Grup de recerca
SIR - Service and Industrial Robotics

Participants