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Consensus in Networks of Nonidentical Euler–Lagrange Systems Using P+d Controllers

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3 Author(s)
Nuno, E. ; Dept. of Comput. Sci., Univ. of Guadalajara, Guadalajara, Mexico ; Sarras, I. ; Basanez, L.

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 contributions of this study.

Published in:

Robotics, IEEE Transactions on  (Volume:29 ,  Issue: 6 )