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Conference Paper: Trajectory tracking and consensus of networks of Euler-Lagrange systems
Title | Trajectory tracking and consensus of networks of Euler-Lagrange systems |
---|---|
Authors | |
Keywords | Consensus Euler-Lagrange Systems Synchronization Time-Delays |
Issue Date | 2011 |
Citation | Ifac Proceedings Volumes (Ifac-Papersonline), 2011, v. 18 PART 1, p. 938-943 How to Cite? |
Abstract | This paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler-Lagrange equations. It is assumed that the communication graph is simply connected and that the systems are fully actuated, with their states available for measurement. The communications can be subject to constant time-delays. The main result of the paper is a controller for each system in the network, capable of tracking a desired trajectory and, if such trajectory does not exist, capable of reaching a network consensus. Moreover, it is proved that, if there are no time-delays and the graph is balanced each system reaches a consensus arbitrarily near the average of the initial conditions of all the systems in the network. Simulations using a ten robot manipulator network with different time-delays are provided. © 2011 IFAC. |
Persistent Identifier | http://hdl.handle.net/10722/169837 |
ISSN | |
References |
DC Field | Value | Language |
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dc.contributor.author | Nuño, E | en_US |
dc.contributor.author | Ortega, R | en_US |
dc.contributor.author | Basañez, L | en_US |
dc.contributor.author | Hill, D | en_US |
dc.date.accessioned | 2012-10-25T04:55:58Z | - |
dc.date.available | 2012-10-25T04:55:58Z | - |
dc.date.issued | 2011 | en_US |
dc.identifier.citation | Ifac Proceedings Volumes (Ifac-Papersonline), 2011, v. 18 PART 1, p. 938-943 | en_US |
dc.identifier.issn | 1474-6670 | en_US |
dc.identifier.uri | http://hdl.handle.net/10722/169837 | - |
dc.description.abstract | This paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler-Lagrange equations. It is assumed that the communication graph is simply connected and that the systems are fully actuated, with their states available for measurement. The communications can be subject to constant time-delays. The main result of the paper is a controller for each system in the network, capable of tracking a desired trajectory and, if such trajectory does not exist, capable of reaching a network consensus. Moreover, it is proved that, if there are no time-delays and the graph is balanced each system reaches a consensus arbitrarily near the average of the initial conditions of all the systems in the network. Simulations using a ten robot manipulator network with different time-delays are provided. © 2011 IFAC. | en_US |
dc.language | eng | en_US |
dc.relation.ispartof | IFAC Proceedings Volumes (IFAC-PapersOnline) | en_US |
dc.subject | Consensus | en_US |
dc.subject | Euler-Lagrange Systems | en_US |
dc.subject | Synchronization | en_US |
dc.subject | Time-Delays | en_US |
dc.title | Trajectory tracking and consensus of networks of Euler-Lagrange systems | en_US |
dc.type | Conference_Paper | en_US |
dc.identifier.email | Hill, D: | en_US |
dc.identifier.authority | Hill, D=rp01669 | en_US |
dc.description.nature | link_to_subscribed_fulltext | en_US |
dc.identifier.doi | 10.3182/20110828-6-IT-1002.03534 | en_US |
dc.identifier.scopus | eid_2-s2.0-84866770177 | en_US |
dc.relation.references | http://www.scopus.com/mlt/select.url?eid=2-s2.0-84866770177&selection=ref&src=s&origin=recordpage | en_US |
dc.identifier.volume | 18 | en_US |
dc.identifier.issue | PART 1 | en_US |
dc.identifier.spage | 938 | en_US |
dc.identifier.epage | 943 | en_US |
dc.identifier.scopusauthorid | Nuño, E=23010213100 | en_US |
dc.identifier.scopusauthorid | Ortega, R=7202793493 | en_US |
dc.identifier.scopusauthorid | Basañez, L=6701755475 | en_US |
dc.identifier.scopusauthorid | Hill, D=35398599500 | en_US |
dc.identifier.issnl | 1474-6670 | - |