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Conference Paper: Trajectory tracking and consensus of networks of Euler-Lagrange systems

TitleTrajectory tracking and consensus of networks of Euler-Lagrange systems
Authors
KeywordsConsensus
Euler-Lagrange Systems
Synchronization
Time-Delays
Issue Date2011
Citation
Ifac Proceedings Volumes (Ifac-Papersonline), 2011, v. 18 PART 1, p. 938-943 How to Cite?
AbstractThis 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 Identifierhttp://hdl.handle.net/10722/169837
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorNuño, Een_US
dc.contributor.authorOrtega, Ren_US
dc.contributor.authorBasañez, Len_US
dc.contributor.authorHill, Den_US
dc.date.accessioned2012-10-25T04:55:58Z-
dc.date.available2012-10-25T04:55:58Z-
dc.date.issued2011en_US
dc.identifier.citationIfac Proceedings Volumes (Ifac-Papersonline), 2011, v. 18 PART 1, p. 938-943en_US
dc.identifier.issn1474-6670en_US
dc.identifier.urihttp://hdl.handle.net/10722/169837-
dc.description.abstractThis 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.languageengen_US
dc.relation.ispartofIFAC Proceedings Volumes (IFAC-PapersOnline)en_US
dc.subjectConsensusen_US
dc.subjectEuler-Lagrange Systemsen_US
dc.subjectSynchronizationen_US
dc.subjectTime-Delaysen_US
dc.titleTrajectory tracking and consensus of networks of Euler-Lagrange systemsen_US
dc.typeConference_Paperen_US
dc.identifier.emailHill, D:en_US
dc.identifier.authorityHill, D=rp01669en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.3182/20110828-6-IT-1002.03534en_US
dc.identifier.scopuseid_2-s2.0-84866770177en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-84866770177&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume18en_US
dc.identifier.issuePART 1en_US
dc.identifier.spage938en_US
dc.identifier.epage943en_US
dc.identifier.scopusauthoridNuño, E=23010213100en_US
dc.identifier.scopusauthoridOrtega, R=7202793493en_US
dc.identifier.scopusauthoridBasañez, L=6701755475en_US
dc.identifier.scopusauthoridHill, D=35398599500en_US

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