Abstract:
This paper deals with the problem of achieving consensus of multiple Euler-Lagrange (EL) systems. Following the energy shaping methodology, we propose a novel decentraliz...Show MoreMetadata
Abstract:
This paper deals with the problem of achieving consensus of multiple Euler-Lagrange (EL) systems. Following the energy shaping methodology, we propose a novel decentralized controller that is capable of solving the leaderless and the leader-follower consensus problems in finite-time in networks of fully-actuated EL-systems without employing velocity measurements. As in the energy shaping methodology, the controller is another EL-system and the plant-controller interconnection is the gradient of a suitable defined potential function. The controller's potential energy and dissipation functions are entitled with some homogeneous properties in order to perform finite-convergence.
Published in: 2018 IEEE Conference on Decision and Control (CDC)
Date of Conference: 17-19 December 2018
Date Added to IEEE Xplore: 20 January 2019
ISBN Information:
ISSN Information:
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- IEEE Keywords
- Index Terms
- Velocity Measurements ,
- Finite-time Convergence ,
- Leader-following Consensus ,
- Consensus Of Agents ,
- Energy Function ,
- Homogeneous Properties ,
- Total Energy ,
- Kinetic Energy ,
- Damping ,
- Undirected ,
- Symmetric Matrix ,
- Equilibrium Point ,
- Positive Definite Matrix ,
- Laplacian Matrix ,
- Control Energy ,
- Inertia Matrix ,
- Unique Minimizer ,
- Finite-time Stability ,
- Velocity Sensors ,
- Coriolis Matrix
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Velocity Measurements ,
- Finite-time Convergence ,
- Leader-following Consensus ,
- Consensus Of Agents ,
- Energy Function ,
- Homogeneous Properties ,
- Total Energy ,
- Kinetic Energy ,
- Damping ,
- Undirected ,
- Symmetric Matrix ,
- Equilibrium Point ,
- Positive Definite Matrix ,
- Laplacian Matrix ,
- Control Energy ,
- Inertia Matrix ,
- Unique Minimizer ,
- Finite-time Stability ,
- Velocity Sensors ,
- Coriolis Matrix
- Author Keywords