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Coordination of multi-agent Euler-Lagrange systems via energy-shaping: Networking improves robustness

Autor
Nuño, E.; Ortega, R.; Jayawardhana, B.; Basañez, L.
Tipus d'activitat
Article en revista
Revista
Automatica
Data de publicació
2013-10-01
Volum
49
Número
10
Pàgina inicial
3065
Pàgina final
3071
DOI
https://doi.org/10.1016/j.automatica.2013.07.002 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/22313 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0005109813003506 Obrir en finestra nova
Resum
In this paper, the robust coordination of multi-agent systems via energy-shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters which are regulated (with and without exchange of information between the agents) by the classical energy-based controller where the potential energy function is shaped such that, if the parameters are known, all agents converge globally to the same desired constant equilibrium. Under parameter uncertainty, the globally asymp...
Citació
Nuño, E. [et al.]. Coordination of multi-agent Euler-Lagrange systems via energy-shaping: Networking improves robustness. "Automatica", 01 Octubre 2013, vol. 49, núm. 10, p. 3065-3071.
Paraules clau
Euler–Lagrange systems, PD-controllers, Passivity-based control, Synchronization
Grup de recerca
SIR - Service and Industrial Robotics

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