Abstract:
This letter proposes a novel decentralized output-feedback controller for networks of fully-actuated Euler–Lagrange (EL) agents that solves the leaderless and the leader–...Show MoreMetadata
Abstract:
This letter proposes a novel decentralized output-feedback controller for networks of fully-actuated Euler–Lagrange (EL) agents that solves the leaderless and the leader–follower consensus problems considering that the actuators are non-ideal, therefore they might saturate, and that the interconnection of the agents is prone to time–varying delays. The controller is designed to be bounded and it is dynamical. The stabilization mechanism relies on damping injection in the controller dynamics that is back-propagated to the plant. Using Barbalat’s Lemma we show that all the EL–agents positions converge to the same value and that velocities converge to zero. The letter also presents a comparative simulation study with an unbounded controller.
Published in: IEEE Control Systems Letters ( Volume: 6)
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- IEEE Keywords
- Index Terms
- Dynamical ,
- Time-varying Delays ,
- Leader-following Consensus ,
- Information Exchange ,
- Dynamic Control ,
- Leadership Positions ,
- Stability Conditions ,
- Gravitational Force ,
- Velocity Measurements ,
- Control Objective ,
- Laplacian Matrix ,
- Set Of Agents ,
- Revolute Joints ,
- Actuator Saturation ,
- Velocity Sensors ,
- Assumption A1
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Dynamical ,
- Time-varying Delays ,
- Leader-following Consensus ,
- Information Exchange ,
- Dynamic Control ,
- Leadership Positions ,
- Stability Conditions ,
- Gravitational Force ,
- Velocity Measurements ,
- Control Objective ,
- Laplacian Matrix ,
- Set Of Agents ,
- Revolute Joints ,
- Actuator Saturation ,
- Velocity Sensors ,
- Assumption A1
- Author Keywords