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Trajectory tracking and consensus of networks of Euler–Lagrange systems

Author
Nuño, E.; Ortega, R.; Basañez, L.; Hill, D.
Type of activity
Presentation of work at congresses
Name of edition
18th World Congress of the International Federation of Automatic Control
Date of publication
2011
Presentation's date
2011-09-01
Book of congress proceedings
18th IFAC world congress 2011: Milan, Italy, 28 August-2 September 2011
First page
938
Last page
943
Publisher
Curran
Repository
http://hdl.handle.net/2117/15465 Open in new window
Abstract
This paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler–Lagrange equations. It is assumed that the communication graph is simply connected and that the systems are fully actuated, with their states available for measurement. The communications can be subject to constant time-delays. The main result of the paper is a controller for each system in the network, capable of tracking a desired trajectory and, if such trajectory does ...
Citation
Nuño, E. [et al.]. Trajectory tracking and consensus of networks of Euler–Lagrange systems. A: World Congress of the International Federation of Automatic Control. "18th IFAC world congress 2011: Milan, Italy, 28 August-2 September 2011". Milà: Curran, 2011, p. 938-943.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Nuño Ortega, Emmanuel  (author and speaker )
  • Ortega, Romeo  (author and speaker )
  • Basañez Villaluenga, Luis  (author and speaker )
  • Hill, David  (author and speaker )