文章基本信息

标题：A Passivity-based Controller without Velocity Measurements for the Leaderless Consensus of Euler-Lagrange Systems
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作者：Emmanuel Nuño ; Romeo Ortega ; Luis Basañez 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：15452-15457
DOI：10.1016/j.ifacol.2017.08.1880
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with the problem of achieving consensus of multiple interconnected Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel decentralized controller that is capable of solving the leaderless consensus problem in networks of fully-actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. The paper also presents experimental results that provide evidence of the performance of the novel controller.
关键词：KeywordsConsensusEuler-Lagrange SystemsPassivity-based Control