A Passivity-based Controller without Velocity Measurements for the Leaderless Consensus of Euler-Lagrange Systems
Résumé
This 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. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.